CN108572660A - A kind of unmanned aerial vehicle control system based on RTK - Google Patents
A kind of unmanned aerial vehicle control system based on RTK Download PDFInfo
- Publication number
- CN108572660A CN108572660A CN201810280079.6A CN201810280079A CN108572660A CN 108572660 A CN108572660 A CN 108572660A CN 201810280079 A CN201810280079 A CN 201810280079A CN 108572660 A CN108572660 A CN 108572660A
- Authority
- CN
- China
- Prior art keywords
- subsystem
- reference coordinate
- rtk
- aerial vehicle
- unmanned aerial
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000012937 correction Methods 0.000 claims description 9
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000007726 management method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention discloses a kind of unmanned aerial vehicle control system based on RTK, including：Ground subsystem, the ground subsystem are used to send observation data and reference coordinate, and control signal to On-Board Subsystem；On-Board Subsystem, the On-Board Subsystem obtain reference coordinate in real time, and analyzing processing reference coordinate, the observation data that receive and reference coordinate and control signal are to generate flight control instruction.The present invention is intended to provide a kind of unmanned aerial vehicle control system based on RTK, high accuracy positioning can be carried out by RTK technologies, realize that course information calculates, make unmanned plane that can accurately determine course in flight course, according to scheduled airline operation, avoids unmanned plane from calculating course and be interfered.
Description
Technical field
The present invention relates to air vehicle technique field more particularly to a kind of unmanned aerial vehicle control systems based on RTK.
Background technology
In recent years, unmanned plane industry rapidly develops, and therewith, the technical problem of unmanned plane correlation also gradually highlights, unmanned plane boat
It is guided to as the direction in unmanned plane in the air flight course, once the system goes wrong, then unmanned plane can not correct root
Normal operation is carried out according to flight course planning, current unmanned plane mainly carries out course calculating using magnetic compass, and magnetic compass is easy by magnetic
Field interference, causes aircraft flight unstable.
Invention content
The present invention is intended to provide a kind of unmanned aerial vehicle control system based on RTK, can be carried out high-precision fixed by RTK technologies
Position realizes that course information calculates, makes unmanned plane that can accurately determine course in flight course, flies according to scheduled course line
Row avoids unmanned plane from calculating course and is interfered.
In order to achieve the above objectives, the technical solution adopted by the present invention is as follows：
A kind of unmanned aerial vehicle control system based on RTK, including：
Ground subsystem, the ground subsystem are used to send observation data and reference coordinate to On-Board Subsystem, and
Control signal；
On-Board Subsystem, the On-Board Subsystem obtain reference coordinate in real time, and analyzing processing reference coordinate, receives
Data and reference coordinate and control signal are observed to generate flight control instruction.
In some embodiments, the ground subsystem includes observation module, locating module and digital transmission module, the observation
Module obtains observation data in real time, and locating module obtains reference coordinate, and digital transmission module is used to send control letter to On-Board Subsystem
Number, observation data and base station coordinates.
In some embodiments, the On-Board Subsystem includes RTK modules, the RTK modules include Power Management Unit,
Control unit, positioning unit, difference unit sum number leaflet member, Power Management Unit are used for control unit, positioning unit, difference
Unit sum number leaflet member carries out power management；Reference coordinate of the positioning unit for obtaining On-Board Subsystem in real time；It is described
Difference unit obtains reference coordinate and observation data by several leaflet members, and is calculated according to the reference coordinate and observation data
Differential corrections data；Described control unit obtains reference coordinate and differential corrections data, and according to reference coordinate and differential corrections
Data calculate the real-time position information of On-Board Subsystem.
In some embodiments, the On-Board Subsystem further includes flying control module, and the winged control module obtains real time position
Information and control signal, and analyzing processing is carried out to the control signal and real-time position information to generate sporting flying instruction.
In some embodiments, the observation data include carrier phase observation data and Pseudo-range Observations.
In some embodiments, the ground subsystem is provided with the first indicator light, and first indicator light is used to indicate
The working condition of ground subsystem.
In some embodiments, the On-Board Subsystem is provided with the second indicator light, and second indicator light is used to indicate
The connection status of On-Board Subsystem and ground subsystem.
Compared with prior art, the invention has the advantages that：
The present invention is intended to provide a kind of unmanned aerial vehicle control system based on RTK, can be carried out high-precision fixed by RTK technologies
Position realizes that course information calculates, makes unmanned plane that can accurately determine course in flight course, flies according to scheduled course line
Row avoids unmanned plane from calculating course and is interfered.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is Power Management Unit circuit diagram；
Fig. 3 is control unit circuit diagram；
Fig. 4 is difference unit circuit diagram；
Fig. 5 is several leaflet member circuit diagrams；
In figure：100- ground subsystems, 200- On-Board Subsystems；
101- observes module, 102- locating modules, 103- digital transmission modules；
210-RTK modules, 220- fly control module；
211- Power Management Unit, 212- control units, 213- positioning units, 214 difference units, 215- numbers leaflet member.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with attached drawing, to the present invention into
Row is further described.
As shown in Figure 1, according to preferred embodiment disclosed by the invention, a kind of unmanned aerial vehicle control system based on RTK, packet
It includes：
Ground subsystem 100, the ground subsystem 100 are used to send observation data and benchmark to On-Board Subsystem 200
Coordinate, and control signal；
It includes self-test to control signal, is taken off, and lands, makes a return voyage and all kinds of flight control actions.
Wherein, ground subsystem 100 is base station, and the carrier phase observation data measured in real time, pseudorange are seen in abbreviation base station
Measured value, benchmark station coordinates etc. simultaneously give the On-Board Subsystem 200 in movement by radio transmission.
On-Board Subsystem 200, the On-Board Subsystem 200 obtains reference coordinate in real time, and analyzing processing reference coordinate, connects
The observation data and reference coordinate and control signal received are to generate flight control instruction.
Specifically, On-Board Subsystem 200 receives carrier phase observation data, Pseudo-range Observations, base station that base station is sent and sits
Simultaneously high precision position update information is obtained by calculation in mark etc., and airborne end is obtained by installing two position antennas on unmanned plane
Two reference coordinates can further calculate airborne current course position by reference to coordinate.
Flight directive includes course angle, the speed of a ship or plane and the flying height of unmanned plane.
As shown in Figure 1, under RTK work patterns, base station will observe data and base station coordinate information by digital transmission module
Send On-Board Subsystem to together, On-Board Subsystem not only receives the data from base station by several leaflet members, it is also necessary to obtain
It is derived from the GPS position information of body, and forms difference observation in system and is handled in real time, and then is provided by analyzing processing
Centimeter-level positioning result.On-Board Subsystem can be at stationary state, can also be in motion state；It can first be carried out just on fixed point
Dynamic job is entered back into after beginningization, also can be directly switched in a dynamic condition, and completes searching for all fuzzinesses in a dynamic environment
Demand solution.After complete cycle end knows that number solution is fixed, you can carry out the real-time processing of each epoch, four or more Satellite Phases is kept to see
The tracking of measured value and necessary geometric figure, On-Board Subsystem can provide centimeter-level positioning result at any time.
Specifically, the ground subsystem 100 includes observing module 101, locating module 102 and digital transmission module 103, described
It observes module 101 and obtains observation data in real time, locating module 102 obtains reference coordinate, and digital transmission module 103 is used for airborne subsystem
System 200 sends control signal, observation data and base station coordinates.It is easy-to-understand to, base station needs in real time that observation data are (pseudo-
Away from observation, carrier phase observable) and reference coordinate be transferred to On-Board Subsystem 200.
As the preferred embodiment of the invention, as shown in Figure 2-5, the On-Board Subsystem 200 includes RTK modules 201, institute
It includes Power Management Unit 211, control unit 212, positioning unit 213,214 sum number leaflet member of difference unit to state RTK modules 201
215, Power Management Unit 211 is used to carry out control unit 212, positioning unit 213,214 sum number leaflet member 215 of difference unit
Power management；
As shown in Fig. 2, in unmanned plane telecommunication and its high-accuracy position system, Power Management Unit 211 is main
Function is to be managed to the working power of modules by controlling program to realize the functions such as signal reconnection, low-power consumption.
It is easy-to-understand to, reference coordinate of the positioning unit 213 for obtaining On-Board Subsystem 200 in real time；Such as Fig. 4 institutes
Show, the difference unit 214 obtains reference coordinate and observation data by several leaflets member 215, and according to the reference coordinate and
Observation data calculate differential corrections data；214 major function of difference unit provides high-precision course information and its location information.
As shown in figure 5, as preferred embodiment, after number leaflet member 215 receives related data, according to data unpacking side
Valid data are extracted and are sent to control unit 212 by method, and control unit 212 executes corresponding function generation according to respective identification
Code；After control unit 212 sends out data transmission cmd, number leaflet member 215 receives data and simultaneously carries out packaging operation, then into line number
It is operated according to sending.
As shown in figure 3, described control unit 212 obtains reference coordinate and differential corrections data, and according to reference coordinate and
Differential corrections data calculate the real-time position information of On-Board Subsystem 200.Control unit 212 is preferably microcontroller, main
Function is to handle the data of entire RTK modules 201.
Further, the On-Board Subsystem 200 further includes flying control module 202, and the winged control module 202 obtains real-time position
Confidence ceases and control signal, and carries out analyzing processing to the control signal and real-time position information and referred to generating sporting flying
It enables.
Wherein, the observation data include carrier phase observation data and Pseudo-range Observations.
It is readily apparent that, the ground subsystem 100 is provided with the first indicator light, and first indicator light is used to indicate ground
The working condition of face system 100.
In some embodiments, the On-Board Subsystem 200 is provided with the second indicator light, and second indicator light is for referring to
Show the connection status of On-Board Subsystem 200 and ground subsystem 100.
Certainly, the present invention can also have other numerous embodiments, without deviating from the spirit and substance of the present invention,
Those skilled in the art can make various corresponding change and deformations, but these corresponding changes and change according to the present invention
Shape should all belong to the protection domain of appended claims of the invention.
Claims (7)
1. a kind of unmanned aerial vehicle control system based on RTK, which is characterized in that including：
Ground subsystem, the ground subsystem are used to send observation data and reference coordinate, and control to On-Board Subsystem
Signal；
On-Board Subsystem, the On-Board Subsystem obtain reference coordinate in real time, and analyzing processing reference coordinate, the observation that receives
Data and reference coordinate and control signal are to generate flight control instruction.
2. a kind of unmanned aerial vehicle control system based on RTK according to claim 1, it is characterised in that：The ground subsystem
System includes observation module, locating module and digital transmission module, and the observation module obtains observation data in real time, and locating module obtains base
Quasi coordinates, digital transmission module are used to send control signal, observation data and base station coordinates to On-Board Subsystem.
3. a kind of unmanned aerial vehicle control system based on RTK according to claim 1, it is characterised in that：The airborne subsystem
System includes RTK modules, and the RTK modules include Power Management Unit, control unit, positioning unit, difference unit sum number leaflet
Member, Power Management Unit are used to carry out power management to control unit, positioning unit, difference unit sum number leaflet member；It is described fixed
Reference coordinate of the bit location for obtaining On-Board Subsystem in real time；The difference unit by several leaflet members obtain reference coordinate and
Data are observed, and differential corrections data are calculated according to the reference coordinate and observation data；Described control unit obtains reference
Coordinate and differential corrections data, and according to reference coordinate and differential corrections data calculate On-Board Subsystem real time position believe
Breath.
4. a kind of unmanned aerial vehicle control system based on RTK according to claim 3, it is characterised in that：The airborne subsystem
System further includes flying control module, and the winged control module obtains real-time position information and control signal, and to the control signal and reality
When location information carry out analyzing processing with generate sporting flying instruction.
5. a kind of unmanned aerial vehicle control system based on RTK according to claim 1, it is characterised in that：The observation data
Including carrier phase observation data and Pseudo-range Observations.
6. a kind of unmanned aerial vehicle control system based on RTK according to claim 1, it is characterised in that：The ground subsystem
System is provided with the first indicator light, and first indicator light is used to indicate the working condition of ground subsystem.
7. a kind of unmanned aerial vehicle control system based on RTK according to claim 1, it is characterised in that：The airborne subsystem
System is provided with the second indicator light, and second indicator light is used to indicate the connection status of On-Board Subsystem and ground subsystem.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810280079.6A CN108572660A (en) | 2018-04-01 | 2018-04-01 | A kind of unmanned aerial vehicle control system based on RTK |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810280079.6A CN108572660A (en) | 2018-04-01 | 2018-04-01 | A kind of unmanned aerial vehicle control system based on RTK |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108572660A true CN108572660A (en) | 2018-09-25 |
Family
ID=63573977
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810280079.6A Pending CN108572660A (en) | 2018-04-01 | 2018-04-01 | A kind of unmanned aerial vehicle control system based on RTK |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108572660A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109085622A (en) * | 2018-10-12 | 2018-12-25 | 广州雷迅创新科技有限公司 | A kind of unmanned plane positioning system based on RTK |
| CN109307870A (en) * | 2018-10-18 | 2019-02-05 | 广东工业大学 | A kind of satellite-signal calculation method and device positioned in real time for unmanned plane |
| CN109839650A (en) * | 2019-01-04 | 2019-06-04 | 哈瓦国际航空技术（深圳）有限公司 | A kind of compatible RTK localization method of unmanned plane, system, equipment and storage medium |
| CN109856591A (en) * | 2019-01-24 | 2019-06-07 | 腾讯科技（深圳）有限公司 | Localization method, device, computer-readable medium and the electronic equipment of mobile terminal |
| CN109991993A (en) * | 2019-04-19 | 2019-07-09 | 江苏荣耀天翃航空科技有限公司 | The double flight control systems in the world based on RTK Differential positioning and winged control |
| CN110596470A (en) * | 2019-09-09 | 2019-12-20 | 西北工业大学 | Antenna testing method using unmanned aerial vehicle and differential GNSS positioning |
| WO2020133909A1 (en) * | 2018-12-29 | 2020-07-02 | 北京金朋达航空科技有限公司 | Flight control and navigation integrated machine |
| CN111896983A (en) * | 2020-06-30 | 2020-11-06 | 昆明能讯科技有限责任公司 | Method for correcting non-RTK multi-rotor unmanned aerial vehicle positioning coordinates |
| CN111929712A (en) * | 2020-05-20 | 2020-11-13 | 国网浙江省电力有限公司 | Engineering site safety monitoring method based on RTK technology |
| CN111983332A (en) * | 2020-08-12 | 2020-11-24 | 中航空管系统装备有限公司 | Electromagnetic signal pattern calibration system based on unmanned aerial vehicle |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008241079A (en) * | 2007-03-26 | 2008-10-09 | Mitsubishi Electric Corp | Navigation system |
| CN106772493A (en) * | 2017-01-03 | 2017-05-31 | 昆明理工大学 | Unmanned plane course calculating system and its measuring method based on Big Dipper Differential positioning |
| CN107703958A (en) * | 2017-10-24 | 2018-02-16 | 成都天麒科技有限公司 | A kind of unmanned plane sound control method |
-
2018
- 2018-04-01 CN CN201810280079.6A patent/CN108572660A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008241079A (en) * | 2007-03-26 | 2008-10-09 | Mitsubishi Electric Corp | Navigation system |
| CN106772493A (en) * | 2017-01-03 | 2017-05-31 | 昆明理工大学 | Unmanned plane course calculating system and its measuring method based on Big Dipper Differential positioning |
| CN107703958A (en) * | 2017-10-24 | 2018-02-16 | 成都天麒科技有限公司 | A kind of unmanned plane sound control method |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109085622A (en) * | 2018-10-12 | 2018-12-25 | 广州雷迅创新科技有限公司 | A kind of unmanned plane positioning system based on RTK |
| CN109307870A (en) * | 2018-10-18 | 2019-02-05 | 广东工业大学 | A kind of satellite-signal calculation method and device positioned in real time for unmanned plane |
| WO2020133909A1 (en) * | 2018-12-29 | 2020-07-02 | 北京金朋达航空科技有限公司 | Flight control and navigation integrated machine |
| CN109839650A (en) * | 2019-01-04 | 2019-06-04 | 哈瓦国际航空技术（深圳）有限公司 | A kind of compatible RTK localization method of unmanned plane, system, equipment and storage medium |
| 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 |
| CN109856591A (en) * | 2019-01-24 | 2019-06-07 | 腾讯科技（深圳）有限公司 | Localization method, device, computer-readable medium and the electronic equipment of mobile terminal |
| CN109991993A (en) * | 2019-04-19 | 2019-07-09 | 江苏荣耀天翃航空科技有限公司 | The double flight control systems in the world based on RTK Differential positioning and winged control |
| CN110596470A (en) * | 2019-09-09 | 2019-12-20 | 西北工业大学 | Antenna testing method using unmanned aerial vehicle and differential GNSS positioning |
| CN110596470B (en) * | 2019-09-09 | 2021-01-05 | 西北工业大学 | Antenna testing method using unmanned aerial vehicle and differential GNSS positioning |
| CN111929712A (en) * | 2020-05-20 | 2020-11-13 | 国网浙江省电力有限公司 | Engineering site safety monitoring method based on RTK technology |
| CN111896983A (en) * | 2020-06-30 | 2020-11-06 | 昆明能讯科技有限责任公司 | Method for correcting non-RTK multi-rotor unmanned aerial vehicle positioning coordinates |
| CN111896983B (en) * | 2020-06-30 | 2023-12-05 | 昆明能讯科技有限责任公司 | Method for correcting positioning coordinates of non-RTK multi-rotor unmanned aerial vehicle |
| CN111983332A (en) * | 2020-08-12 | 2020-11-24 | 中航空管系统装备有限公司 | Electromagnetic signal pattern calibration system based on unmanned aerial vehicle |
| CN111983332B (en) * | 2020-08-12 | 2023-02-28 | 中航空管系统装备有限公司 | Electromagnetic signal pattern calibration system based on unmanned aerial vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108572660A (en) | A kind of unmanned aerial vehicle control system based on RTK | |
| CN205247213U (en) | Hi -Fix cruise system of use on unmanned aerial vehicle | |
| EP2752725B1 (en) | Augmented mobile platform localization | |
| EP2660619A1 (en) | Near field navigation system | |
| CN106525044B (en) | The personnel positioning navigation system and its method of large-scale naval vessels based on Ship Structure Graphing | |
| CN102707306A (en) | Combined navigation method applicable to unmanned aerial vehicle in glide landing stage | |
| EP3214461B1 (en) | Aircraft landing systems and methods | |
| Skulstad et al. | Autonomous net recovery of fixed-wing UAV with single-frequency carrier-phase differential GNSS | |
| Petrich et al. | On-board wind speed estimation for uavs | |
| CN108445912A (en) | A kind of plant protection drone flight control system | |
| CN110779496B (en) | Three-dimensional map construction system, method, device and storage medium | |
| EP3671397A1 (en) | Computer-vision-based autonomous or supervised-autonomous landing of aircraft | |
| CN106324632A (en) | Plant protection unmanned aerial vehicle accurate positioning method under control point-free conditions | |
| CN113534184B (en) | Laser-perceived agricultural robot space positioning method | |
| CN109839650A (en) | A kind of compatible RTK localization method of unmanned plane, system, equipment and storage medium | |
| CN106093855A (en) | The navigation control method of unmanned plane and control system | |
| CN107144281A (en) | Unmanned plane indoor locating system and localization method based on cooperative target and monocular vision | |
| CN109282813B (en) | Unmanned ship global obstacle identification method | |
| CN114485619A (en) | Multi-robot positioning and navigation method and device based on air-ground cooperation | |
| CN110244769A (en) | Off-line operation method and apparatus | |
| CN113608556A (en) | Multi-robot relative positioning method based on multi-sensor fusion | |
| CN108981691A (en) | A kind of sky polarised light integrated navigation filters online and smoothing method | |
| Causa et al. | Improving autonomy in GNSS-challenging environments by multi-UAV cooperation | |
| CN116540754A (en) | Unmanned aerial vehicle unmanned pilot flight method, device and system with fixed wing and readable storage medium | |
| JP2008241079A (en) | Navigation system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180925 |
|
| WD01 | Invention patent application deemed withdrawn after publication |