CN108521835B - Unmanned aerial vehicle and unmanned aerial vehicle's circular polarization antenna module - Google Patents
Unmanned aerial vehicle and unmanned aerial vehicle's circular polarization antenna module Download PDFInfo
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- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/36—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like adapted to receive antennas or radomes
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
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- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/28—Adaptation for use in or on aircraft, missiles, satellites, or balloons
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
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Abstract
The embodiment of the invention discloses an unmanned aerial vehicle and a circularly polarized antenna assembly of the unmanned aerial vehicle, wherein the unmanned aerial vehicle comprises a body, a real-time kinematic difference RTK assembly and the circularly polarized antenna assembly arranged at the top of the body, and the circularly polarized antenna assembly is used for receiving satellite signals; and the RTK component is used for determining the position information of the unmanned aerial vehicle according to the satellite signals received by the circularly polarized antenna component and the RTK data acquired from the RTK base station. This unmanned aerial vehicle adopts the RTK technique to fix a position, has improved the accuracy of location. Meanwhile, the unmanned aerial vehicle of the embodiment adopts the circularly polarized antenna to receive satellite signals, and the circularly polarized antenna is small in size and light in weight, so that the size of the unmanned aerial vehicle is small, and the endurance time of the unmanned aerial vehicle is prolonged.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle and a circularly polarized antenna assembly of the unmanned aerial vehicle.
Background
In recent years, with the rapid development of Unmanned Aerial Vehicle (UAV) technology, the application of the UAV is becoming more and more widespread. For example, utilize unmanned aerial vehicle transportation goods in the transportation industry, utilize unmanned aerial vehicle to measure the farmland in the agricultural field, utilize unmanned aerial vehicle to survey and draw in the survey and drawing field. During in-service use, in order to ensure commodity circulation unmanned aerial vehicle's goods supply, survey and drawing unmanned aerial vehicle's survey and drawing accuracy etc, unmanned aerial vehicle need the fixed point to descend and fix to required accurate position. However, the positioning accuracy of the existing unmanned aerial vehicle is low, the high-precision positioning requirement cannot be met, and the requirement for fine operation cannot be met.
Disclosure of Invention
The invention provides an unmanned aerial vehicle and a circularly polarized antenna assembly of the unmanned aerial vehicle, which are used for solving the problem that the unmanned aerial vehicle in the prior art cannot obtain high-precision positioning information.
A first aspect of the present invention provides an unmanned aerial vehicle, comprising: the real-time dynamic differential RTK antenna comprises a body, a real-time dynamic differential RTK component and a circularly polarized antenna component arranged at the top of the body,
the circularly polarized antenna assembly is used for receiving satellite signals;
and the RTK component is used for determining the position information of the unmanned aerial vehicle according to the satellite signals received by the circularly polarized antenna component and the RTK data acquired from the RTK base station.
The invention provides a circularly polarized antenna assembly of an unmanned aerial vehicle, which is characterized by comprising: a circularly polarized antenna and an antenna signal pre-processing assembly coupled to the circularly polarized antenna, wherein,
the circularly polarized antenna is used for receiving satellite signals;
the pre-processing assembly comprises: a signal separation device, a first processing component, a second processing component and a signal synthesis device, wherein
The signal separation device is used for separating a first frequency band from a second frequency band in the satellite signals received by the circularly polarized antenna;
the first processing component is used for performing first preset processing on the first frequency band satellite signal output by the signal separation device;
the second processing component is used for performing second preset processing on the second frequency band satellite signal output by the signal separation device;
the signal synthesizing device is used for synthesizing the satellite signals output by the first processing part and the second processing part.
The unmanned aerial vehicle comprises a body, an RTK (real-time kinematic) assembly and a circularly polarized antenna assembly arranged at the top of the body, wherein the circularly polarized antenna assembly is used for receiving satellite signals, and the RTK assembly is used for determining the position information of the unmanned aerial vehicle according to the satellite signals received by the circularly polarized antenna assembly and RTK data acquired from an RTK base station. The unmanned aerial vehicle of this embodiment promptly adopts circular polarization antenna module can receive satellite signal better, adopts the RTK technique to fix a position simultaneously, has improved the accuracy of location. Meanwhile, the unmanned aerial vehicle of the embodiment adopts the circularly polarized antenna to receive satellite signals, and the circularly polarized antenna is small in size and light in weight, so that the size of the unmanned aerial vehicle is small, and the endurance time of the unmanned aerial vehicle is prolonged.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the method of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the method of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive effort.
Fig. 1 is an application scenario diagram of positioning of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a first unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a three-dimensional diagram of an unmanned aerial vehicle according to a first embodiment of the present invention;
fig. 4 is a front view of an unmanned aerial vehicle according to a first embodiment of the present invention;
fig. 5 is a top view of the unmanned aerial vehicle according to the first embodiment of the present invention;
fig. 6 is a schematic structural diagram of a second embodiment of the unmanned aerial vehicle according to the present invention;
FIG. 7 is a schematic structural diagram of a heat dissipation component according to a second embodiment of the present invention;
fig. 8 is a schematic structural diagram of a circular polarization antenna assembly in an unmanned aerial vehicle according to a third embodiment of the present invention;
fig. 9 is another schematic structural diagram of a circular polarization antenna assembly in an unmanned aerial vehicle according to a third embodiment of the present invention;
FIG. 10 is a schematic diagram of a feed network configuration in a circularly polarized antenna assembly;
fig. 11 is a schematic structural diagram of a first circularly polarized antenna assembly of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 12 is a schematic structural diagram of a second circularly polarized antenna assembly of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 13 is another schematic structural diagram of a second circularly polarized antenna assembly of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 14 is a schematic structural diagram of a third circular polarization antenna assembly of the unmanned aerial vehicle according to the embodiment of the present invention.
Description of reference numerals:
1: an unmanned aerial vehicle;
2: an RTK base station;
3: a satellite;
10: a body;
11: a propeller;
12: a landing gear;
20: an RTK component;
30: a circularly polarized antenna assembly;
31: a circularly polarized antenna;
32: a pre-processing assembly;
33: a top cover;
310: a feed network;
311: a feed pin;
322: a ground pin;
320: a vibrator unit;
321: a first vibrator;
322: a second vibrator;
324: a feed end;
323: a ground terminal;
330: a cylindrical substrate;
40: a heat dissipating member;
41: a first through hole;
110: a second through hole;
50: a signal separation device;
60: a first processing section;
61: a first band pass filter;
62: a first attenuator;
70: a second processing component;
71: a second band-pass filter;
72: a second attenuator;
80: a signal synthesizing device;
301: a first bridge;
302: a second bridge;
303: a balun;
304: a first vibrator unit;
305: a second vibrator unit;
306: a third vibrator unit;
307: a fourth vibrator unit;
81: a first amplification unit;
82: a second amplifying section.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Along with unmanned aerial vehicle's development, unmanned aerial vehicle has obtained extensive application in fields such as survey and drawing, planning farmland, electric power patrol and examine, and these fields all need unmanned aerial vehicle accurate positioning. At present, unmanned aerial vehicles generally adopt GPS location, and GPS positioning accuracy is low, can't satisfy high positioning accuracy's demand.
In order to solve the technical problem, in the unmanned aerial vehicle provided by the embodiment of the invention, by arranging a Real-time kinematic (RTK) component and using a RTK technology to perform positioning, the positioning precision can reach the centimeter level, so that the positioning accuracy of the unmanned aerial vehicle is greatly improved, and the application range of the unmanned aerial vehicle is expanded.
The RTK positioning technology is a carrier phase real-time dynamic differential positioning technology combining a global satellite navigation positioning technology and a data communication technology, and can provide a three-dimensional positioning result of a station under test in a specified coordinate system in real time. In the RTK measurement mode, the base station transmits its observations and the coordinate information of the survey station to the rover station through the data chain, and the rover station not only collects the satellite observation data, but also receives the data from the base station through the data chain and forms differential observations in the system for real-time processing.
Fig. 1 is an application scenario diagram of positioning of an unmanned aerial vehicle according to an embodiment of the present invention, and as shown in fig. 1, the unmanned aerial vehicle 1 of this embodiment is equivalent to the rover station, and the RTK base station 2 of this embodiment is equivalent to the reference station. Unmanned aerial vehicle 1 and RTK basic station 2 receive the satellite signal that the satellite 3 launched, simultaneously, unmanned aerial vehicle 1 receives the RTK data that RTK basic station 2 sent to fix a position according to satellite signal and RTK data.
The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 2 is a schematic structural diagram of a first unmanned aerial vehicle provided in an embodiment of the present invention, fig. 3 is a three-dimensional diagram of the first unmanned aerial vehicle provided in the embodiment of the present invention, fig. 4 is a front view of the first unmanned aerial vehicle provided in the embodiment of the present invention, and fig. 5 is a top view of the first unmanned aerial vehicle provided in the embodiment of the present invention. As shown in fig. 1 to 5, the unmanned aerial vehicle of the present embodiment includes: the mobile terminal comprises a body 10, an RTK assembly 20 and a circularly polarized antenna assembly 30 arranged on the top of the body 10, wherein the circularly polarized antenna assembly 30 is used for receiving satellite signals; and the RTK component 20 is configured to determine the position information of the drone according to the satellite signal received by the circularly polarized antenna component 30 and the RTK data acquired from the RTK base station, and specifically, the RTK component may perform differential positioning according to the satellite signal received by the circularly polarized antenna component 30 and the RTK data acquired from the RTK base station to determine the position information of the drone.
The unmanned aerial vehicle of this embodiment can be plant protection unmanned aerial vehicle, take photo by plane unmanned aerial vehicle, survey and drawing unmanned aerial vehicle etc. and this embodiment does not do the restriction to unmanned aerial vehicle's specific type.
As shown in fig. 3 to 5, the unmanned aerial vehicle of the present embodiment further includes a power system, an undercarriage 12, and the like, which are disposed on the body 10, wherein the power system may include a motor (not shown in the drawings), a propeller 11, and the like.
Specifically, as shown in fig. 2 to 5, the drone of the present embodiment includes, in addition to the main body 10 (for convenience of illustration, fig. 2 shows only a top case of the main body), an RTK component 20 and a circularly polarized antenna component 30. The circularly polarized antenna assembly 30 may be disposed at any position of the main body 10, for example, at the top of the main body 10, so as to facilitate reception of satellite signals and also facilitate fixed installation. RTK subassembly 20 also can set up the optional position department at fuselage body 10, for example set up in fuselage body 10 the inside, and fuselage body 10 can play the effect of protection to RTK subassembly 20 like this, avoids damaging RTK subassembly 20, and then has guaranteed RTK subassembly 20's operational reliability, provides the guarantee for unmanned aerial vehicle's accurate positioning.
Because the satellite signal is circularly polarized wave, in order to improve the receiving effect of the satellite signal, the circularly polarized antenna assembly 30 is adopted in the unmanned aerial vehicle, and the circularly polarized antenna assembly 30 can effectively receive the satellite signal of circularly polarized wave, reduce the loss of the signal, and provide high-precision reference data for accurate positioning.
The circularly polarized antenna assembly 30 of the present embodiment includes at least a circularly polarized antenna 31, and the circularly polarized antenna 31 is used for receiving satellite signals. The trajectory of the antenna radiation instantaneous electric field vector of the circularly polarized antenna 31 is a circle along the propagation direction, and is called right-hand circular polarization if the electric field vector rotates in the right-hand helical direction, and left-hand circular polarization if the electric field vector rotates in the left-hand helical direction.
It should be noted that the rotation direction of the circularly polarized antenna 31 is the same as the rotation direction of the circularly polarized wave of the satellite signal, for example, when the satellite signal is a right-handed circularly polarized wave, the circularly polarized antenna 31 is a right-handed circularly polarized wave, and when the satellite signal is a left-handed circularly polarized wave, the circularly polarized antenna 31 can only receive the circularly polarized wave with the same rotation direction.
The circularly polarized antenna 31 of the present embodiment may be: cross symmetrical array, microstrip antenna, spiral antenna and microstrip reflective array.
Preferably, the circular polarization antenna 31 of the present embodiment may be a quadrifilar helix microstrip antenna.
The circular polarized antenna 31 of this embodiment, antenna height is low, and transverse dimension is little, and then has less unmanned aerial vehicle's overall dimension, realizes unmanned aerial vehicle's miniaturization. Meanwhile, the circularly polarized antenna 31 of the embodiment is light in weight, and further the endurance time of the unmanned aerial vehicle is improved.
In actual use, the ground RTK base station receives the satellite signal transmitted from the satellite, obtains RTK data such as a carrier phase observation value, a pseudo range observation value, and an RTK base station coordinate, and transmits the RTK data to the RTK module 20. Meanwhile, the circularly polarized antenna assembly 30 on the drone receives the satellite signal and transmits the satellite signal to the RTK assembly 20, at which time the RTK assembly 20 acquires the RTK data and the satellite signal. Then, the RTK component 20 performs real-time differential processing on the RTK data and the satellite signals to obtain a baseline vector (Δ X, Δ Y, Δ Z) between the drone and the RTK base station. Then, the RTK base station coordinates are added on the basis of the baseline vector to obtain WGS84 coordinates of the unmanned aerial vehicle, namely a geocentric coordinate system of the unmanned aerial vehicle. And finally, performing coordinate conversion (for example, according to a Beijing coordinate system, a 1980 Western Ann coordinate system or a local independent coordinate system and the like in 1954), obtaining plane coordinates x and y and a normal height h of the unmanned aerial vehicle, and further realizing accurate positioning of the unmanned aerial vehicle.
Optionally, as shown in fig. 2, the circularly polarized antenna assembly 30 of the present embodiment may further include a top cover 33 covering the circularly polarized antenna 31, where the top cover 33 may protect the circularly polarized antenna 31.
Optionally, the RTK base station of this embodiment may be a single RTK base station, or may also be a network RTK base station, which is not limited in this embodiment, and is specifically set according to actual needs.
The unmanned aerial vehicle provided by the embodiment of the invention comprises a body, an RTK (real time kinematic) assembly and a circularly polarized antenna assembly arranged at the top of the body, wherein the circularly polarized antenna assembly is used for receiving satellite signals, and the RTK assembly is used for determining the position information of the unmanned aerial vehicle according to the satellite signals received by the circularly polarized antenna assembly and RTK data acquired from an RTK base station. The unmanned aerial vehicle of this embodiment adopts RTK technique to fix a position promptly, has improved the accuracy of location. Meanwhile, the unmanned aerial vehicle of the embodiment adopts the circularly polarized antenna to receive satellite signals, and the circularly polarized antenna is small in size and light in weight, so that the size of the unmanned aerial vehicle is small, and the endurance time of the unmanned aerial vehicle is prolonged.
Fig. 6 is a schematic structural diagram of a second embodiment of the unmanned aerial vehicle according to the embodiment of the present invention, and based on the above-mentioned embodiment, as shown in fig. 6, the unmanned aerial vehicle according to the embodiment may further include a heat dissipation component 40, where the heat dissipation component 40 is disposed on the body 10 and is used for dissipating heat of the RTK component 20.
The shape and size of the heat dissipation member 40 are not limited in this embodiment, and are specifically set according to actual needs. For example, the shape and size of the heat sink member 40 may match the shape and size of the RTK assembly 20, i.e., when the RTK assembly 20 is a rectangular plate, the heat sink member 40 may also be a rectangular plate. Optionally, the size of the heat dissipation member 40 is larger than that of the RTK assembly 20, so that the heat dissipation area of the heat dissipation member 40 is increased, and the heat dissipation efficiency of the RTK assembly 20 is improved.
The heat dissipation member 40 of the present embodiment may be made of any heat dissipation material, for example, a metal material with good heat conductivity such as gold, silver, copper, and aluminum, or a non-metal material with good heat conductivity such as graphene, graphite, carbon fiber, and a C/C composite material.
Alternatively, the heat dissipation component 40 of the present embodiment may be a heat sink, such as a copper-aluminum heat sink composed of a plurality of heat dissipation fins. Optionally, the heat dissipation component 40 of this embodiment may also be a metal heat dissipation plate.
Optionally, the heat sink member 40 of the present embodiment is in contact with any face of the RTK assembly 20 for transferring heat generated by the RTK plate away. For example, the heat sink member 40 may be disposed on a lower surface of the RTK assembly 20 and in contact with the lower surface of the RTK assembly 20 to dissipate heat, and optionally, the heat sink member 40 may also be disposed on an upper surface of the RTK assembly 20, in contact with the upper surface of the RTK assembly 20 to dissipate heat, and the like.
With continued reference to fig. 6, the circularly polarized antenna assembly 30 of the present embodiment may be mounted on a heat sink 40 with the heat sink 40 disposed between the circularly polarized antenna assembly 30 and the RTK assembly 20.
Specifically, as shown in fig. 6, the heat sink member 40 is disposed on the RTK assembly 20 and contacts the upper surface of the RTK assembly 20. Because the devices on the RTK assembly 20 are basically all arranged on the upper surface of the RTK assembly 20, the heat on the upper surface of the RTK assembly 20 is concentrated, and thus, the heat dissipation part 40 is arranged on the RTK assembly 20, so that the heat on the upper surface of the RTK assembly 20 is conveniently transferred to the heat dissipation part 40, and further the heat dissipation efficiency of the RTK assembly 20 is improved.
Meanwhile, the circularly polarized antenna assembly 30 is mounted on the heat dissipation component 40, so that the circularly polarized antenna assembly 30 can be fixedly mounted, an antenna mounting seat and the like are avoided, and the number of parts of the unmanned aerial vehicle is reduced.
Optionally, the circularly polarized antenna assembly 30 and the heat dissipating component 40 of the present embodiment may be connected in a non-detachable manner, such as welding or adhesion, or in a detachable manner, such as clamping or screwing, and the present embodiment does not limit this, and is specifically set according to actual needs.
Optionally, as shown in fig. 6, the circularly polarized antenna assembly 30 and the heat dissipating component 40 are connected by bolts in this embodiment, specifically, at least one threaded hole is provided on the circularly polarized antenna assembly 30, and correspondingly, at least one boss with an internal thread is provided on the heat dissipating component 40, for example, as shown in fig. 6, 1 threaded hole is provided at each of four top corners of the circularly polarized antenna assembly 30, and correspondingly, four bosses with internal threaded holes are provided at corresponding positions of the heat dissipating component 40. Next, each boss is connected to each threaded hole with a bolt in a one-to-one correspondence, and the circular polarization antenna assembly 30 is fixed to the heat dissipation member 40. When the circular polarization antenna assembly 30 needs to be replaced or maintained, the circular polarization antenna assembly 30 can be directly detached from the heat dissipation component 40, and therefore the convenience in detachment and installation of the circular polarization antenna assembly 30 is improved.
Fig. 7 is a schematic structural diagram of a heat dissipation component in a second embodiment of the invention. As shown in fig. 6 and 7, in the present embodiment, a first through hole 41 is provided in the heat dissipation plate, and the circularly polarized antenna assembly 30 and the RTK assembly 20 are connected by a connection wire inserted into the first through hole 41.
The circular polarization antenna assembly 30 and the RTK assembly 20 of the present embodiment are connected through a connection line for data interaction, and specifically, the satellite signal received by the circular polarization antenna assembly 30 is transmitted to the RTK assembly 20 through the connection line.
Specifically, as shown in fig. 6 and 7, when the heat dissipation member 40 is disposed between the circularly polarized antenna assembly 30 and the RTK assembly 20, in order to facilitate the connection between the circularly polarized antenna assembly 30 and the RTK assembly 20, the heat dissipation plate of the present embodiment is provided with a first through hole 41, so that the connection line can pass through the first through hole 41 to connect the circularly polarized antenna assembly 30 and the RTK assembly 20 together. That is, in this embodiment, the connecting wire is inserted into the first through hole 41, so that the problem that the connecting wire is arranged outside the heat dissipation member 40 and the wiring is disordered can be avoided. Meanwhile, the first through hole 41 plays a role in fixing and protecting the connection line, so that the connection between the circularly polarized antenna assembly 30 and the RTK assembly 20 is more reliable.
Optionally, the connection line of this embodiment may be any connection line that can transmit signals, and preferably, may be an IPEX connection line.
With continued reference to fig. 6, in another possible implementation manner of the present embodiment, in order to facilitate fixing the heat dissipation component 40, the top of the body 10 of the present embodiment has a second through hole 110 adapted to the heat dissipation component 40, and the heat dissipation component 40 is fixed in the second through hole 110.
Alternatively, the heat dissipation member 40 of the present embodiment may be welded in the second through hole 110, that is, the periphery of the heat dissipation member 40 is welded with the periphery of the second through hole 110.
Optionally, the heat dissipation member 40 is configured as a "T" shaped boss, wherein the size of the bottom of the heat dissipation member 40 is smaller than the size of the top of the heat dissipation member 40, meanwhile, the size of the bottom of the heat dissipation member 40 is matched with the size of the second through hole 110, and the size of the top of the heat dissipation member 40 is larger than the size of the second through hole 110. Like this, when setting up heat dissipation part 40 in second through-hole 110, heat dissipation part 40 bottom is located second through-hole 110, and can be interference fit, transition fit or clearance fit between the two, and heat dissipation part 40 top butt is at the edge of second through-hole 110, can hang heat dissipation part 40 like this and establish the top at fuselage body 10, and can no longer carry out other connections between the two, and then simplified heat dissipation part 40's mounting process.
Optionally, in this embodiment, the periphery of the second through hole 110 may be made into a sinking platform, that is, the periphery of the second through hole 110 is recessed to form a sinking platform, the shape and size of the sinking platform are adapted to the shape and size of the heat dissipation component 40, and the heat dissipation component 40 may be disposed on the sinking platform, so as to facilitate the fixed mounting of the heat dissipation component 40.
Optionally, in this embodiment, the heat dissipation part 40 is in smooth transition with the top outer surface of the airframe body 10 near the heat dissipation surface of the circularly polarized antenna assembly 30, so that the heat dissipation part 40 forms a part of the airframe body 10, and the attractiveness of the unmanned aerial vehicle is improved.
According to the unmanned aerial vehicle provided by the embodiment of the invention, the radiating part is arranged on the body of the unmanned aerial vehicle, so that the radiating part can radiate the RTK component, the radiating efficiency of the RTK component is further improved, and the working reliability of the RTK component is improved. Further, the RTK assembly is disposed between the circularly polarized antenna assembly and the RTK assembly, and the circularly polarized antenna assembly is mounted on the heat radiating member, thereby fixing the circularly polarized antenna assembly.
Fig. 8 is a schematic structural diagram of a circular polarization antenna assembly in an unmanned aerial vehicle according to a third embodiment of the present invention, fig. 9 is another schematic structural diagram of the circular polarization antenna assembly in the unmanned aerial vehicle according to the third embodiment of the present invention, and fig. 10 is a schematic structural diagram of a feed network in the circular polarization antenna assembly. On the basis of the above-described embodiments, as shown in fig. 8 to 9, the circularly polarized antenna assembly 30 of the present embodiment includes a circularly polarized antenna 31 and an antenna signal preprocessing assembly 32 connected to the circularly polarized antenna 31. The preprocessing component 32 is configured to preprocess a satellite signal received by the circularly polarized antenna 31, where the preprocessing component is used to increase a gain of the circularly polarized antenna assembly 30 and filter noise in the received satellite signal, and the RTK component 20 is connected to the preprocessing component 32 and specifically configured to determine position information of the drone according to the satellite signal preprocessed by the preprocessing component 32 and RTK data acquired from an RTK base station.
Specifically, in actual use, the circularly polarized antenna 31 receives satellite signals transmitted from a satellite and transmits the satellite signals to the preprocessing module 32, and the preprocessing module 32 performs preprocessing such as amplification and filtering on the satellite signals and then transmits the preprocessed satellite signals to the RTK module 20. The RTK component 20 receives RTK data sent by the RTK base station at the same time, and performs real-time differential processing according to the preprocessed satellite signals and the RTK data to determine the position information of the unmanned aerial vehicle.
As shown in fig. 8 to 10, the circular polarization antenna 31 of the present embodiment includes a feeding network 310, a plurality of element units 320, and a cylindrical substrate 330, wherein each element unit 320 includes a first element 321 and a second element 322, wherein the first element 321 and the second element 322 are spirally disposed on the cylindrical substrate 330 and extend toward an upper end of the cylindrical substrate 330, each element unit 320 further includes a feeding terminal 324 and a grounding terminal 323, and each element unit 320 is connected to the feeding network 310 through the feeding terminal 324 and the grounding terminal 323.
The cylindrical substrate 330 of this embodiment may be a cylinder, for example, a hollow cylinder, so that the weight of the circularly polarized antenna 31 may be reduced, and the endurance of the drone may be improved. Alternatively, the cylindrical substrate 330 may be a solid cylinder, which has a stable structure.
Optionally, the cylindrical substrate 330 of this embodiment is a flexible substrate, the vibrator unit may be first disposed on the flexible substrate, and then the flexible substrate is substantially wound into a cylindrical shape, which is convenient for manufacturing the antenna.
Optionally, the circularly polarized antenna 31 of this embodiment is an FPC (Flexible Printed Circuit) microstrip antenna, wherein each element unit 320 may be an L antenna element or an IFA (Inverted-F) antenna element, and may preferably be a PIFA element.
As shown in fig. 8 and 9, the length of the first element 321 is greater than the length of the second element 322, where the first element 321 is configured to receive a high-frequency satellite signal (e.g., a satellite signal corresponding to at least one of an L1 frequency band of a GPS positioning system, a beidou positioning system B1 frequency band, an F1 frequency band, a galileo positioning system E1 frequency band, and a glonass positioning system G1 frequency band), and the second element 322 is configured to receive a low-frequency satellite signal (e.g., a satellite signal corresponding to at least one of an L2 frequency band, an L5 frequency band of a GPS positioning system, a beidou positioning system B2 frequency band, a B3 frequency band, a galileo positioning system E5 frequency band, an E6 frequency band, a glonass positioning system G2 frequency band, and a.
Optionally, the feeding network 310 and the preprocessing component 32 of this embodiment may be disposed on the same circuit board, so that the feeding network 310 and the preprocessing component 32 are conveniently connected, and the occupied volume is reduced.
Optionally, the feeding network 310 of the present embodiment includes a feeding pin 311 connected to the feeding terminal 324, and a grounding pin 322 connected to the grounding terminal 323. The feeding pins 311 and the feeding terminals 324 of the vibrator unit 320 are the same in number, and the grounding pins 322 and the grounding terminals 323 of the vibrator unit 320 are the same in number, so that the feeding pins 311 and the vibrator unit 320 are correspondingly connected one to one, and the grounding pins 322 and the grounding terminals 323 are correspondingly connected one to one.
Specifically, as shown in fig. 9 and 10, it is assumed that the circular polarization antenna 31 of the present embodiment is a four-arm circular polarization antenna 31, and includes four element units 320. The bottom end of each oscillator unit 320 is provided with a feeding end 324 and a grounding end 323, the corresponding feeding network 310 comprises a fourth feeding pin 311 and a fourth grounding pin 322, each feeding end 324 of the oscillator unit 320 is connected with each feeding pin 311 on the feeding network 310 in a one-to-one correspondence manner, and each grounding end 323 of the oscillator unit 320 is connected with each grounding pin 322 on the feeding network 310 in a one-to-one correspondence manner. The output port of the feeding network 310 is connected to the input port of the preprocessing component 32, and the received satellite signal can be transmitted to the preprocessing component 32, so that the preprocessing component 32 preprocesses the satellite signal.
In the unmanned aerial vehicle provided by the embodiment of the invention, the circularly polarized antenna assembly is set into a circularly polarized antenna and an antenna signal preprocessing assembly connected with the circularly polarized antenna, wherein the preprocessing assembly is used for preprocessing satellite signals received by the circularly polarized antenna; the RTK assembly is connected with the preprocessing assembly and is specifically used for determining the position information of the unmanned aerial vehicle according to the satellite signals preprocessed by the preprocessing assembly and the RTK data acquired from the RTK base station, so that the processing capacity of the satellite signals is improved, and the position of the unmanned aerial vehicle determined based on the processed satellite signals is more accurate.
Fig. 11 is a schematic structural diagram of a first circularly polarized antenna assembly of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 11, the circularly polarized antenna assembly 30 of the present embodiment includes: the circular polarization antenna 31 and the antenna signal preprocessing assembly 32 connected with the circular polarization antenna 31, wherein the circular polarization antenna 31 comprises a plurality of element units 320 and a feed network 310, and the preprocessing assembly 32 comprises: a signal splitting device 50, a first processing component 60, a second processing component 70 and a signal synthesizing device 80, wherein
And a circularly polarized antenna 31 for receiving satellite signals.
The signal separation device 50 is used for separating the first frequency band from the second frequency band in the satellite signal received by the circularly polarized antenna 31.
The first processing unit 60 is configured to perform a first preset process on the first frequency band satellite signal output by the signal separation device 50.
The second processing unit 70 is configured to perform a second preset process on the second frequency band satellite signal output by the signal separation device 50.
And a signal synthesizing device 80 for synthesizing the satellite signals output from the first processing part 60 and the second processing part 70.
Specifically, as shown in fig. 11, in actual use, the circularly polarized antenna 31 receives a satellite signal transmitted from a satellite and transmits the satellite signal to the signal separating device 50. Since the satellite signals include signals of different frequency bands, the present embodiment divides the satellite signals into satellite signals of a first frequency band and satellite signals of a second frequency band. Thus, when the signal separation device 50 receives the satellite signal, the signal separation device 50 separates the satellite signal into a first frequency band satellite signal and a second frequency band satellite signal.
Optionally, the first frequency band of this embodiment at least includes at least one of an L1 frequency band of a GPS positioning system, a B1 frequency band of a beidou positioning system, an F1 frequency band, an E1 frequency band of a galileo positioning system, and a G1 frequency band of a glonass positioning system.
Optionally, the second frequency band of this embodiment at least includes at least one of an L2 frequency band, an L5 frequency band of a GPS positioning system, a beidou positioning system B2 frequency band, a B3 frequency band, an F2 frequency band, a galileo positioning system E5 frequency band, an E6 frequency band, a glonass positioning system G2 frequency band, and a G3 frequency band.
Next, the signal separation device 50 sends the first frequency band satellite signal to the first processing unit 60, so that the first processing unit 60 performs first preprocessing such as amplification and filtering on the first frequency band satellite signal. Meanwhile, the signal separation device 50 sends the second frequency band satellite signal to the second processing unit 70, so that the second processing unit 70 performs second preprocessing such as amplification and filtering on the second frequency band satellite signal.
After the signal processing is completed, the first processing part 60 sends the processed first frequency band satellite signal to the signal synthesis device 80, and the second processing part 70 sends the processed second frequency band satellite signal to the signal synthesis device 80. Finally, the signal synthesizing device 80 synthesizes the processed first frequency band satellite signal and the processed second frequency band satellite signal, and transmits the synthesized satellite signal to the RTK assembly 20. The signal separation device and the signal synthesis device may be power dividers.
The antenna assembly of this embodiment separates the satellite signal at first, adopts different preprocessing methods to the satellite signal of different frequency channels, and then realizes the accurate processing to the satellite signal, avoids adopting same kind of processing procedure to handle the satellite signal of different frequency channels and lead to the satellite signal distortion, the magnification is unsatisfactory, the problem that noise filtering is not thorough, makes the location based on the satellite signal of this accurate preliminary treatment more accurate like this, has further improved unmanned aerial vehicle's location accuracy.
The circularly polarized antenna assembly of the unmanned aerial vehicle provided by the embodiment of the invention is characterized in that the circularly polarized antenna and an antenna signal preprocessing assembly connected with the circularly polarized antenna are arranged, wherein the preprocessing assembly comprises a signal separating device, a first processing part, a second processing part and a signal synthesizing device, and the circularly polarized antenna is used for receiving satellite signals; the signal separation device is used for separating a first frequency band from a second frequency band in satellite signals received by the circularly polarized antenna; the first processing component is used for carrying out first preset processing on the first frequency band satellite signal output by the signal separation device; the second processing component is used for carrying out second preset processing on the second frequency band satellite signal output by the signal separation device; and the signal synthesis device is used for synthesizing the satellite signals output by the first processing part and the second processing part, so that the processing accuracy of the satellite signals is improved, and the positioning accuracy of the unmanned aerial vehicle based on the satellite signals is improved.
Fig. 12 is a schematic structural diagram of a second circular polarization antenna assembly of the unmanned aerial vehicle according to the embodiment of the present invention, and fig. 13 is another schematic structural diagram of the second circular polarization antenna assembly of the unmanned aerial vehicle according to the embodiment of the present invention. On the basis of the above-described embodiment, as shown in fig. 12, the first processing section 60 of the present embodiment includes at least one first band-pass filter 61 for filtering the first frequency band satellite signals output from the signal separation device 50.
Optionally, the first band-pass filter 61 of this embodiment is selected according to the first frequency band, that is, the first band-pass filter 61 allows the signal in the first frequency band to pass through, and attenuates or suppresses the signal lower than the lower limit frequency of the first frequency band and the signal higher than the upper limit frequency of the first frequency band.
The number of the first band pass filters 61 in this embodiment is set according to actual needs, and this embodiment does not limit this.
Optionally, the first band-pass filter 61 of this embodiment may be a (Surface Acoustic Wave, SAW) SAW filter
With continued reference to fig. 12, the second processing means 70 of the present embodiment comprises at least one second band-pass filter 71 for filtering the second frequency band satellite signals output by the signal separating device 50.
Optionally, the second band-pass filter 71 of this embodiment is selected according to the second frequency band, that is, the second band-pass filter 71 allows the signal of the second frequency band to pass through, and attenuates or suppresses the signal lower than the lower limit frequency of the second frequency band and the signal higher than the upper limit frequency of the second frequency band.
The number of the second band pass filters 71 in this embodiment is set according to actual needs, which is not limited in this embodiment.
Alternatively, the second band-pass filter 71 of the present embodiment may be a (Surface Acoustic Wave) SAW filter.
As shown in fig. 8 to 10, the circular polarization antenna 31 of the present embodiment includes a plurality of element units 320, a feeding network 310 connected to each element unit 320, and a cylindrical substrate 330, wherein each element unit 320 includes a first element 321 and a second element 322, and the first element 321 and the second element 322 are spirally disposed on the cylindrical substrate 330 and extend toward the upper end of the cylindrical substrate 330. The structure of the circularly polarized antenna 31 is described with reference to the above embodiments, and will not be described herein.
Alternatively, the circular polarization antenna 31 of the present embodiment may be a four-arm circular polarization antenna 31, that is, the antenna includes 4 element units 320.
At this time, as shown in fig. 13, the feed network 310 of the present embodiment includes a first bridge 301, a second bridge 302, and a balun 303 connected to the first bridge 301 and the second bridge 302, respectively, wherein the first bridge 301 is connected to a first vibrator unit 304 and a second vibrator unit 305 adjacent to the first vibrator unit 304, respectively; the second bridge 302 is respectively connected with a third vibrator unit 306 and a fourth vibrator unit 307 adjacent to the third vibrator unit 306; the balun 303 is used to transmit the processed signal to the preprocessing component 32.
Specifically, as shown in fig. 13, the circular polarization antenna 31 of the present embodiment includes 4 element units 320, which are a first element unit 304, a second element unit 305, a third element unit 306, and a fourth element unit 307. Wherein the phase of each adjacent vibrator unit 320 differs by 90 degrees, for example, the phase of the first vibrator unit 304 is 0 degree, the phase of the second vibrator unit 305 is 90 degrees, the phase of the third vibrator unit 306 is 180 degrees, and the phase of the fourth vibrator unit 307 is 270 degrees.
The first transducer unit 304 and the second transducer unit 305 are connected to the first bridge 301, and the third transducer unit 306 and the fourth transducer unit 307 are connected to the second bridge 302. First bridge 301 is configured to combine a satellite signal received by first oscillator unit 304 and a satellite signal received by second oscillator unit 305, and second bridge 302 is configured to combine a satellite signal received by third oscillator unit 306 and a satellite signal received by fourth oscillator unit 307.
As is clear from the above description, the first transducer unit 304, the second transducer unit 305, the third transducer unit 306, and the fourth transducer unit 307 have phases different by 90 degrees, and therefore, the first bridge 301 and the second bridge 302 of the present embodiment are both 90-degree bridges.
The satellite signal processed by the first bridge 301 is 180 degrees out of phase with the satellite signal processed by the second bridge 302. Then, the first bridge 301 and the second bridge 302 send the two processed satellite signals with a phase difference of 180 degrees to the balun 303. The balun 303 synthesizes two paths of satellite signals with a phase difference of 180 degrees, and transmits the synthesized satellite signals to the preprocessing component 32, so as to realize efficient reception of the satellite signals.
As can be seen from the above, the circular polarization antenna 31 of the present embodiment includes 4 oscillator units 320, each oscillator unit 320 can receive a satellite signal, and the feeding network 310 synthesizes the satellite signals received by each oscillator unit 320, so as to improve the receiving efficiency of the satellite signals.
Optionally, the feeding network 310 and the preprocessing module 32 of this embodiment are disposed on the same circuit board, which is convenient for management and reduces the number of parts of the antenna module.
According to the circularly polarized antenna assembly of the unmanned aerial vehicle, the at least one first band-pass filter is arranged in the first processing component and used for filtering the first frequency band satellite signals output by the signal separation device, the at least one second band-pass filter is arranged in the second processing component and used for filtering the second frequency band satellite signals output by the signal separation device, and therefore satellite signals of different frequency bands are filtered respectively, and the accuracy of filtering is improved. Meanwhile, the first electric bridge, the second electric bridge and the balun are arranged in the feed network, so that efficient reception of satellite signals is achieved.
Fig. 14 is a schematic structural diagram of a third circular polarization antenna assembly of the unmanned aerial vehicle according to the embodiment of the present invention. On the basis of the above-described embodiment, as shown in fig. 14, the present embodiment is provided with a first amplification part 81 between the feed network 310 and the signal splitting device 50, the first amplification part 81 being used for amplifying the satellite signal output from the feed network 310.
Specifically, because the received satellite signal is weak, the first amplification part 81 is disposed between the feed network 310 and the signal separation device 50 in this embodiment, so that the satellite signal output by the feed network 310 is amplified by the first amplification part 81 and then sent to the signal separation device 50, so that the signal separation device 50 accurately separates the satellite signal, and further, the satellite signal is effectively processed.
Alternatively, the first amplification part 81 of the present embodiment may be a follower amplifier.
As shown in fig. 14, the first processing unit 60 of the present embodiment further includes a first attenuator 62, and the first attenuator 62 is used for attenuating the first frequency band satellite signal output by the signal separating device 50.
Optionally, the second processing component 70 of the present embodiment includes a second attenuator 72, and the second attenuator 72 is used for attenuating the second frequency band satellite signal output by the signal separation device 50.
Specifically, as shown in fig. 14, when the satellite signal is amplified by the first amplification unit 81, the strength of the satellite signal increases, and the corresponding amplitude increases. Next, the signal separation device 50 separates the satellite signal with high signal strength into a first frequency band satellite signal and a second frequency satellite signal. In this case, the signal strength of the first band satellite signal and the second frequency satellite signal is also strong. At this time, in order to saturate the amplified satellite signal, it is necessary to attenuate the first band satellite signal and the second band satellite signal.
Alternatively, the first attenuator 62 and the second attenuator 72 of the present embodiment may be pi-type attenuators.
Alternatively, the first attenuator 62 of the present embodiment may be disposed between the signal separation device 50 and the first band pass filter 61, and the second attenuator 72 may be disposed between the signal separation device 50 and the second band pass filter 71.
Alternatively, the first attenuator 62 of the present embodiment may be disposed between the first band pass filter 61 and the signal synthesizing device 80, and the second attenuator 72 may be disposed between the second band pass filter 71 and the signal synthesizing device 80.
Alternatively, as shown in fig. 14, when the first processing section 60 includes two first band pass filters 61, the first attenuator 62 may be disposed between the two first band pass filters 61. Similarly, when the second processing section 70 includes two second band-pass filters 71, the second attenuator 72 may be disposed between the two second band-pass filters 71.
With continued reference to fig. 14, the preprocessing component 32 of the present embodiment further includes a second amplifying component 82 connected to the signal synthesizing device 80, and the second amplifying component 82 is used for amplifying the satellite signal output by the signal synthesizing device 80.
Specifically, as shown in fig. 14, since the satellite signal is very small, the required gain is relatively large, and single-stage amplification often cannot meet the requirement, therefore, in order to obtain a sufficiently large gain, the preprocessing component 32 of this embodiment includes not only the first amplification component 81 but also the second amplification component 82, so as to implement gradual amplification of the satellite signal, so that the satellite signal output by the preprocessing component 32 meets the preset requirement, and can be received and processed by the RTK component 20, thereby improving the positioning reliability of the unmanned aerial vehicle.
According to the circularly polarized antenna assembly of the unmanned aerial vehicle, the first amplification part is arranged between the feed network and the signal separation device, and the first amplification part is used for amplifying the satellite signals output by the feed network so as to ensure effective separation of the satellite signals by the subsequent signal separation device and effective filtering of the satellite signals by the band-pass filter.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (26)
1. An unmanned aerial vehicle, comprising: the antenna comprises a machine body, an RTK assembly and a circularly polarized antenna assembly arranged on the top of the machine body, wherein the circularly polarized antenna assembly comprises a circularly polarized antenna and an antenna signal preprocessing assembly connected with the circularly polarized antenna;
the circularly polarized antenna is used for receiving satellite signals;
the preprocessing component is used for preprocessing the satellite signals received by the circularly polarized antenna;
the RTK component is connected with the preprocessing component and used for determining the position information of the unmanned aerial vehicle according to the satellite signals preprocessed by the preprocessing component and the RTK data acquired from the RTK base station;
wherein the pre-processing assembly comprises: a signal separation device, a first processing component, a second processing component and a signal synthesis device, wherein
The signal separation device is used for separating a first frequency band from a second frequency band in the satellite signals received by the circularly polarized antenna;
the first processing component is used for performing first preset processing on the first frequency band satellite signal output by the signal separation device;
the second processing component is used for performing second preset processing on the second frequency band satellite signal output by the signal separation device;
the signal synthesizing device is used for synthesizing the satellite signals output by the first processing part and the second processing part.
2. The drone of claim 1, further comprising a heat dissipating component disposed on the fuselage body for dissipating heat from the RTK components.
3. The drone of claim 2, wherein the circularly polarized antenna assembly is mounted on the heat dissipating component, and the heat dissipating component is disposed between the circularly polarized antenna assembly and the RTK assembly.
4. The drone of claim 3, wherein the heat dissipating component is provided with a first through hole, and the circularly polarized antenna assembly and the RTK assembly are connected by a connecting wire passing through the first through hole.
5. The drone of any one of claims 2 to 4, wherein the top of the fuselage body has a second through hole that is fitted with the heat dissipating component, the heat dissipating component being secured in the second through hole.
6. The drone of claim 5, wherein the heat dissipating component is in smooth transition with the top outer surface of the fuselage body proximate to a heat dissipating surface of the circularly polarized antenna assembly.
7. The unmanned aerial vehicle of claim 1, wherein the circular polarized antenna comprises a feed network, a plurality of oscillator units, and a cylindrical substrate, wherein each oscillator unit comprises a first oscillator and a second oscillator, wherein the first oscillator and the second oscillator are helically disposed on the cylindrical substrate and extend towards an upper end of the cylindrical substrate, each oscillator unit comprises a feed terminal and a ground terminal, and each oscillator unit is connected with the feed network through the feed terminal and the ground terminal.
8. The drone of claim 7, the feed network and the pre-processing assembly disposed on a same circuit board.
9. The unmanned aerial vehicle of claim 7, wherein the length of the first vibrator is greater than the length of the second vibrator.
10. The drone of any one of claims 7-9, wherein the feed network includes a feed pin connected to the feed terminal and a ground pin connected to the ground terminal.
11. The drone of claim 7, wherein the cylindrical substrate is a flexible substrate.
12. The drone of claim 2, wherein the heat dissipating component is a metal heat dissipating plate.
13. An unmanned aerial vehicle's circular polarization antenna subassembly characterized in that includes: a circularly polarized antenna and an antenna signal pre-processing assembly coupled to the circularly polarized antenna, wherein,
the circularly polarized antenna is used for receiving satellite signals;
the pre-processing assembly comprises: a signal separation device, a first processing component, a second processing component and a signal synthesis device, wherein
The signal separation device is used for separating a first frequency band from a second frequency band in the satellite signals received by the circularly polarized antenna;
the first processing component is used for performing first preset processing on the first frequency band satellite signal output by the signal separation device;
the second processing component is used for performing second preset processing on the second frequency band satellite signal output by the signal separation device;
the signal synthesizing device is used for synthesizing the satellite signals output by the first processing part and the second processing part.
14. The antenna assembly of claim 13,
the first frequency band at least comprises at least one of an L1 frequency band of a GPS (global positioning system), a B1 frequency band of a Beidou positioning system, an E1 frequency band of a Galileo positioning system and a G1 frequency band of a Glonass positioning system.
15. The antenna assembly of claim 13,
the second frequency band at least comprises at least one of L2 and L5 frequency bands of a GPS positioning system, B2 and B3 frequency bands of a Beidou positioning system, E5 and E6 frequency bands of a Galileo positioning system, and G2 and G3 frequency bands of a Glonass positioning system.
16. The antenna assembly of claim 13,
the first processing means comprise at least one first band-pass filter for filtering the satellite signals in the first frequency band output by the signal splitting device.
17. The antenna assembly of claim 16, the first band pass filter selected according to a first frequency band.
18. An antenna assembly according to claim 13, characterized in that the second processing means comprise at least one second band-pass filter for filtering the second frequency band satellite signals output by the signal separation device.
19. The antenna assembly of claim 18, wherein the second band pass filter is selected according to a second frequency band.
20. The antenna assembly of any one of claims 13-19,
the first processing means comprises a first attenuator for attenuating the first band satellite signal output by the signal splitting device.
21. The antenna assembly of any one of claims 13-19,
the second processing section includes a second attenuator for attenuating the second frequency band satellite signal output from the signal separating device.
22. The antenna assembly of any one of claims 13-19, wherein the circularly polarized antenna comprises a plurality of element units, a feed network connected to each element unit, and a cylindrical substrate, wherein each element unit comprises a first element and a second element, wherein the first element and the second element are helically disposed on the cylindrical substrate and extend towards an upper end of the cylindrical substrate.
23. The antenna assembly of claim 22, wherein the plurality of dipole units is 4 dipole units, and wherein the feed network comprises a first bridge, a second bridge, and a balun connected to the first bridge and the second bridge, respectively, wherein the first bridge is connected to the first dipole unit and the second dipole unit adjacent to the first dipole unit, respectively; the second bridge is respectively connected with the third vibrator unit and a fourth vibrator unit adjacent to the third vibrator unit; the balun is used for transmitting the processed signal to the preprocessing component.
24. The antenna assembly of claim 22, wherein the feed network and the pre-processing assembly are disposed on a same circuit board.
25. The antenna assembly of claim 22, wherein a first amplifying component is disposed between the feed network and the signal splitting device, the first amplifying component configured to amplify satellite signals output by the feed network.
26. The antenna assembly of any one of claims 13-19, 23-25, wherein the preprocessing assembly further comprises a second amplifying component coupled to the signal synthesizing device, the second amplifying component configured to amplify the satellite signal output by the signal synthesizing device.
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| PCT/CN2017/117033 WO2019119237A1 (en) | 2017-12-18 | 2017-12-18 | Unmanned aerial vehicle and circularly polarized antenna assembly thereof |
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| CN108521835A CN108521835A (en) | 2018-09-11 |
| CN108521835B true CN108521835B (en) | 2020-10-23 |
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| CN109659710A (en) * | 2018-12-14 | 2019-04-19 | 深圳市易讯物联科技有限公司 | It is a kind of improve radio frequency environment knob antenna and its application |
| CN109494450B (en) * | 2018-12-27 | 2024-04-12 | 深圳市道通智能航空技术股份有限公司 | Antenna and unmanned vehicles |
| CN109839650B (en) * | 2019-01-04 | 2023-06-23 | 哈瓦国际航空技术（深圳）有限公司 | Unmanned aerial vehicle compatible RTK positioning method, system, equipment and storage medium |
| WO2020150960A1 (en) * | 2019-01-24 | 2020-07-30 | 深圳市大疆创新科技有限公司 | Positioning information fusion method and apparatus, and intelligent terminal |
| CN117642935A (en) * | 2021-12-31 | 2024-03-01 | 深圳市大疆创新科技有限公司 | Polarization direction control method, remote control device and storage medium |
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| CA2622145A1 (en) * | 2005-09-14 | 2007-03-22 | Novatel Inc. | Helicopter shipboard landing system |
| CN105467415A (en) * | 2016-01-18 | 2016-04-06 | 中国民航大学 | Miniature unmanned plane RTK relative positioning method based on difference air pressure height constraints |
| CN207233932U (en) * | 2017-10-09 | 2018-04-13 | 北京沃氏航空科技有限公司 | Gps antenna holder assembly and unmanned plane |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108521835A (en) | 2018-09-11 |
| WO2019119237A1 (en) | 2019-06-27 |
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