CN109270956A - A kind of unmanned vehicle independent Position Fixing Navigation System based on UWB - Google Patents
A kind of unmanned vehicle independent Position Fixing Navigation System based on UWB Download PDFInfo
- Publication number
- CN109270956A CN109270956A CN201811377059.7A CN201811377059A CN109270956A CN 109270956 A CN109270956 A CN 109270956A CN 201811377059 A CN201811377059 A CN 201811377059A CN 109270956 A CN109270956 A CN 109270956A
- Authority
- CN
- China
- Prior art keywords
- unmanned vehicle
- module
- aircraft
- location information
- independent
- 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
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses a kind of unmanned vehicle independent Position Fixing Navigation System based on UWB, for realizing the independent navigation of unmanned vehicle, solve the problems, such as that unmanned plane is unable to independent navigation in no GNSS, it include: aircraft module, for carrying unmanned vehicle, and acquire the relative position information of unmanned vehicle and unmanned vehicle ambient enviroment；Ultra wide band locating module, for the location information according to the method positioning aircraft modules of ultra wideband location techniques；Earth station's processing module sends control instruction for handling the relative position information of aircraft module, and to aircraft module；Aircraft digital transmission module for the relative information of ground station processing module output unmanned vehicle and the location information of aircraft module, and receives control instruction.Technical solution of the present invention reduces the probability that unmanned vehicle and indoor object collide, and GNSS signal is weaker or that in the environment of GNSS signal, the use of unmanned vehicle not can not be limited indoors.
Description
Technical field
The present invention relates to aircraft field more particularly to a kind of unmanned vehicle independent Position Fixing Navigation Systems based on UWB.
Background technique
With the development of science and technology, unmanned vehicle using more and more extensive, unmanned vehicle is not only obtained in outdoor
It is widely used, and also has application more indoors, traditional more rotor unmanned aircraft platforms rely on Global Navigation Satellite System
(Global Navigation Satellite System, GNSS) receiver navigates, to realize unmanned vehicle
Autonomous flight.
But in the indoor environments such as basement, built-up interior, GNSS signal can not penetrate the interlayers such as wall,
It is possible that GNSS signal is weaker or does not have the case where GNSS signal, at this point, the independent navigation function of more rotor unmanned aircrafts
It can will fail, more rotor unmanned aircrafts are likely to collide with indoor object in autonomous flight, so that nobody flies
Row device is damaged, so that indoor GNSS signal is weaker or without in the environment of GNSS signal, the use of unmanned vehicle by
Limitation is arrived.
Summary of the invention
The main purpose of the present invention is to provide a kind of unmanned vehicle independent Position Fixing Navigation System based on UWB, it is intended to
Indoor GNSS signal is weaker or that in the environment of GNSS signal, the use of unmanned vehicle is not received in the prior art for solution
The technical issues of limitation.
To achieve the above object, first aspect present invention provides a kind of unmanned vehicle independent location navigation based on UWB
System, comprising: aircraft module for carrying unmanned vehicle, and acquires location information and the unmanned flight of unmanned vehicle
The relative position information of device ambient enviroment；Ultra wide band locating module, for the method positioning flight according to ultra wideband location techniques
The location information of device module；Earth station's processing module module, for handle the aircraft module location information and the nothing
The relative position information of people's aircraft ambient enviroment, and control instruction is sent to the aircraft module；Aircraft digital transmission module,
For ground station processing module module export the unmanned vehicle ambient enviroment relative information and the aircraft module
Location information, and receive the control instruction.
Further, the ultra wide band locating module includes: ultra wide band positioning unit, is set for four places indoors
Locating base station is set, four locating base stations surround quadrangle, and three locating base stations are located at same level, a positioning base
It stands and the other three locating base station is not located at same level, the ginseng according to the coordinate of the locating base station as aircraft module
Examine coordinate.
Further, earth station's processing module includes: several leaflet members, is passed for receiving the ultra wide band locating module
The location information and the relative position information of defeated aircraft module, and for sending the control to the aircraft module
Instruction；Information process unit, for being generated described in control according to the location information of aircraft module and the relative position information
The control instruction of aircraft module.
Further, the information process unit includes: that two-dimensional coordinate point determines subelement, for according to the ultra wide band
Locating module determines two-dimentional reference coordinates point of the aircraft module in two-dimensional space；Flying distance calculates subelement, uses
Two independent timestamps are generated in the data-signal emitted according to ultra wide band locating module, and according to two independent timestamps
Calculate the time of data-signal transmitting；Three-dimensional coordinate point determines subelement, for determining subelement and institute according to the coordinate points
It states ultra wide band locating module and determines the three-dimensional reference coordinates point of aircraft module in three-dimensional space.
Second aspect of the present invention provides a kind of unmanned vehicle independent positioning navigation method based on UWB, comprising: acquisition nothing
The location information of people's aircraft and the relative position information of unmanned vehicle ambient enviroment；According to the method for ultra wideband location techniques
Position the location information of unmanned vehicle；On unmanned vehicle ground station output unmanned vehicle location information and around
The relative information of environment；In ground station reception and handle the location information and unmanned vehicle ambient enviroment of unmanned plane during flying device
Relative position information, and control instruction is sent to unmanned vehicle；Unmanned vehicle receives the control instruction and realizes from leading
Boat flight.
Further, it is described according to the method for ultra wideband location techniques position unmanned vehicle location information include:
Locating base station is arranged in four places of indoor same level, and the height of wherein three base stations is arranged in same level,
The height that a base station is arranged is not equal with the level height of the other three base station, and four locating base stations are surrounded quadrangle,
And the reference coordinate according to the coordinate of locating base station as unmanned vehicle；Using ultra wide band location method, make aircraft module
It realizes ultra-wideband communications, exports the location information of unmanned vehicle and the relative position information of ambient enviroment.
Further, it is described ground station reception and handle unmanned plane during flying device location information and unmanned vehicle around
The relative position information of environment, and to unmanned vehicle send control instruction include: receive unmanned vehicle location information and
The relative position information of ambient enviroment；It is generated and is controlled according to the relative position information of the location information of unmanned vehicle and ambient enviroment
The control instruction of unmanned vehicle flight processed；The control instruction is sent to unmanned vehicle.
Further, described that control is generated according to the location information of unmanned vehicle and the relative position information of ambient enviroment
The control instruction of unmanned vehicle flight includes: to determine a unmanned vehicle in two-dimensional space according to ultra wide band location method
Two-dimentional reference coordinates point；Pass through the method ground station output position information and phase of ultra wideband location techniques in unmanned vehicle
Two independent timestamps are generated to two time points of location information, and calculate data-signal according to two independent timestamps
The time of transmitting；Unmanned vehicle is calculated in three-dimensional according to the time of the two-dimentional reference coordinates point, data-signal transmitting
Three-dimensional reference coordinates point in space.
Third aspect present invention provides a kind of electronic device, comprising: memory, processor and is stored on the memory
And the computer program that can be run on the processor, which is characterized in that when the processor executes the computer program,
Realize above-mentioned any one the method.
Fourth aspect present invention provides a kind of computer readable storage medium, is stored thereon with computer program, the meter
When calculation machine program is executed by processor, above-mentioned any one the method is realized.
The present invention provides a kind of unmanned vehicle independent Position Fixing Navigation System based on UWB, and beneficial effect is: by super
Broadband locating module, the method for being able to use ultra wideband location techniques obtain the location information of unmanned vehicle, and ultra wide band
The UWB signal that location technology provides has the characteristics that penetration power is strong, is capable of providing accurate positioning precision, so enabling to ultra-wide
The location information of aircraft module with locating module acquisition and the relative position information of aircraft module acquisition are more accurate, make
Obtaining unmanned vehicle, GNSS signal is weaker or without still being able to the aircraft mould by acquisition in the environment of GNSS signal indoors
The relative position information of location information and aircraft the module acquisition of block completes independent navigation, reduces unmanned vehicle and interior
The probability that object collides, so that GNSS signal is weaker or without in the environment of GNSS signal indoors, unmanned vehicle
Using can not be limited.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those skilled in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is the structural schematic block diagram of unmanned vehicle independent Position Fixing Navigation System of the embodiment of the present invention based on UWB；
Fig. 2 is the knot of the aircraft module of unmanned vehicle independent Position Fixing Navigation System of the embodiment of the present invention based on UWB
Structure schematic block diagram；
Fig. 3 is the ultra wide band locating module of unmanned vehicle independent Position Fixing Navigation System of the embodiment of the present invention based on UWB
Structural schematic block diagram；
Fig. 4 is earth station's processing module of unmanned vehicle independent Position Fixing Navigation System of the embodiment of the present invention based on UWB
Structural schematic block diagram；
Fig. 5 is the aircraft module of unmanned vehicle independent Position Fixing Navigation System of the embodiment of the present invention based on UWB and determines
The structural schematic diagram of position module；
Fig. 6 is the top view of unmanned vehicle independent Position Fixing Navigation System of the embodiment of the present invention based on UWB；
Fig. 7 is the enlarged drawing of unmanned vehicle independent Position Fixing Navigation System of the embodiment of the present invention based on UWB；
Fig. 8 is the structural schematic diagram of unmanned vehicle independent Position Fixing Navigation System of the embodiment of the present invention based on UWB；
Fig. 9 is the knot of the aircraft module of unmanned vehicle independent Position Fixing Navigation System of the embodiment of the present invention based on UWB
Structure schematic diagram；
Figure 10 is the structural schematic block diagram of electronic device of the embodiment of the present invention.
Specific embodiment
In order to make the invention's purpose, features and advantages of the invention more obvious and easy to understand, below in conjunction with the present invention
Attached drawing in embodiment, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described reality
Applying example is only a part of the embodiment of the present invention, and not all embodiments.Based on the embodiments of the present invention, those skilled in the art
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Fig. 1 and Fig. 5 is please referred to, is a kind of unmanned vehicle independent Position Fixing Navigation System based on UWB, comprising: aircraft
Module 1, for carrying unmanned vehicle, and acquire unmanned vehicle location information and unmanned vehicle ambient enviroment it is opposite
Location information；Ultra wide band locating module 2, the position for the method positioning aircraft module 1 according to ultra wideband location techniques are believed
Breath；Earth station's processing module 4, for handling the location information of aircraft module 1 and the opposite position of unmanned vehicle ambient enviroment
Confidence breath, and control instruction is sent to aircraft module 1；Aircraft digital transmission module 3 is exported for ground station processing module 4
The relative information of unmanned vehicle ambient enviroment and the location information of aircraft module 1, and receive control instruction；Wherein UWB generation
Table ultra wideband location techniques.
Fig. 2 and Fig. 9 is please referred to, aircraft module 1 includes: aircraft unit 11, for carrying unmanned vehicle；Propeller
Unit 12, for providing propulsive force for unmanned vehicle；Fly control unit 13, for installing on unmanned vehicle for receiving control
System instruction, to control the winged control FC of unmanned vehicle flight；Fly control FC and mould is handled by 3 satellite receiver of aircraft digital transmission module
The control instruction of block 4 to control unmanned vehicle movement, and flies control FC and passes through at 3 ground station of aircraft digital transmission module
It manages module 4 and sends the data informations such as the posture position of unmanned vehicle, in the present embodiment, aircraft digital transmission module 3 is first
Data radio station R0.
Propeller unit 12 includes: propeller, brushless motor, brushless electricity is adjusted and lithium battery, and propeller is arranged in quadrotor
On aircraft, and two adjacent propeller turning directions are on the contrary, non-conterminous two propeller turning directions are identical, to offset spiral
The anti-twisted power that paddle generates, enables unmanned vehicle to fly more stable, and propeller carries brushless motor and brushless electricity is adjusted,
For driving propeller works, brushless electricity calls in starting or closes brushless motor brushless motor, and controls turning for brushless motor
Speed, and lithium battery provides power supply for the electronic equipment in propeller unit 12, and aircraft can be manually controlled by remote controler
Flight, can also be using the control flight of earth station's processing module 4, to realize the autonomous flight of aircraft.
Fig. 3, Fig. 5 are please referred to Fig. 7, ultra wide band locating module 2 is ultra wide band positioning unit 21, for four indoors
Locating base station is arranged in place, and four locating base stations surround quadrangle, and three locating base stations are located at same level, a positioning
Base station and the other three locating base station are not located at same level, the ginseng according to the coordinate of locating base station as aircraft module 1
Coordinate is examined, to provide reference coordinate according to four fixed locating base station coordinates for the mobile tag in aircraft module 1.?
In the present embodiment, chip, the UWB omnidirectional antenna of the specially DW1000 model of ultra wide band positioning unit 21, power IC,
The integrated control system of LED indicating circuit, reset circuit, and ultra wide band positioning unit 21 uses STM32F103T8U6 model
Single-chip microcontroller as main control chip, in Fig. 5 into Fig. 9, ultra wide band positioning unit 21 is indicated with T0.
Please refer to Fig. 3 and Fig. 8 ultra wide band locating module 2 further include: fixed cell 22, for fixing ultra wide band positioning unit
21 locating base station；Standby power unit 23, for providing backup power source for the locating base station of ultra wide band positioning unit 21；Its
In, four locating base stations are denoted as A0, A1, A2 and A3 respectively；Fixed cell is A-frame, in the present embodiment, A-frame
There are four, be respectively labeled as Z0, Z1, Z2 and Z3, and with A-frame Z0, Z1, Z2 and Z3 be fixedly mounted respectively base station A0, A1,
A2 and A3；In the present embodiment, backup power source is charger baby, and in other embodiments, backup power source can be also battery, have change
Press the generator etc. of function；There are four charger babies, and four charger babies are marked C0, C1, C2 and C3 respectively, charger baby C0, C1,
C2 and C3 is separately mounted on A-frame Z0, Z1, Z2 and Z3, respectively as the backup power source of base station A0, A1, A2 and A3, is prevented
Function only is lost after power-off of base station, to increase the stability of base station data transmission.
Referring to Fig. 4, earth station's processing module 4 includes: several leaflet members 41, transmitted for receiving ultra wide band locating module 2
Aircraft module 1 location information and relative position information, and for aircraft module 1 send control instruction；At information
Unit 42 is managed, for generating the control of control aircraft module 1 according to the location information and relative position information of aircraft module 1
Instruction.
Fig. 7 and Fig. 9 is please referred to, in the present embodiment, number leaflet member 41 is the second data radio station R1, and the first number conducts electricity
Platform R0 and the second data radio station R1 are pre-configured with before use, enable the first data radio station R0 and the second data radio station R1 bis-
To communication, instructed so that the second data radio station R1 can be sent by the first data radio station R0 to aircraft module 1；It receives
Unit is computer, and for the ease of movement, and receiving unit is laptop, and laptop passes through USB connection
Second data radio station R1.
Information process unit 42 includes: that two-dimensional coordinate point determines subelement 421, for true according to ultra wide band locating module 2
Fixed two-dimentional reference coordinates point of the aircraft module 1 in two-dimensional space；Flying distance calculates subelement 422, is used for basis
The data-signal that ultra wide band locating module 2 emits generates two independent timestamps, and is calculated according to two independent timestamps
The time of data-signal transmitting；Three-dimensional coordinate point determines subelement 423, for determining that subelement and ultra wide band are fixed according to coordinate points
Position module 2 determines the three-dimensional reference coordinates point of aircraft module 1 in three-dimensional space.
In the present embodiment, four angle point mounted base stations respectively indoors, base station are also referred to as beacon anchor point, base station A3's
Height is than base station A0, base station A1 and 0.5 meter or 1 meter of base station A2 high, and base station A0, base station A1 and base station A2 are same flat
Face, and A0, A1 and A2 will be regard as A node, B node and C node respectively, using unmanned vehicle as D node, and saved with A
Point, B node, C node are that circle is done in the center of circle, and obtains the coordinate of A node, B node, C node, and be expressed as (Xa, Ya),
(Xb, Yb), (Xc, Yc), the circumference of the circle done with the coordinate of A node, B node, C node intersect at a point D, and intersection point D is to move
Dynamic node, A node, B node, C node are reference mode, and setting A node, B node, C node are respectively at a distance from D point
Da, db, dc, and the coordinate for setting D point then has formula 1 as (X, Y), formula 1 is expressed as follows:
Due to A node, B node, C node and the D node in the method for ultra wideband location techniques, used, each node
Hardware and power consumption have subtle difference, can so as to cause three above-mentioned circles so the actual range measured is not ideal value
It will not can just meet at a bit, a region may be intersected at, therefore there is mistake using the coordinate (X, Y) that the above method calculates
Difference, so, it when base station A0, A1 and A2 work, is calculated with the method for mathematics, there are two solutions for meeting；When A0, A1, A2 grades of A3 work
When, an optimal solution is had, A3 obtains two after A0, A1 and A2 complete a trilateration computation as assistant base station
A solution, by the solution nearest from A3 spherical surface, as optimal solution, to obtain the longitude and latitude of unmanned vehicle；Base station A 3 is made
For the reference point of height, and by the method for ultra wideband location techniques, the relative altitude of unmanned vehicle and base station A3 is obtained, from
And obtain the height of unmanned vehicle.
In the present embodiment, the unmanned vehicle independent Position Fixing Navigation System based on UWB, range measurement principle are using two-way
Time-of-flight method, i.e., each module will generate an independent timestamp since starting, and the transmitter of modules A is in its time
The Ta1 moment on stamp emit request property pulse signal, the pulse signal that module B emits in Tb1 reception to modules A,
And emit the signal of a response property at the Tb2 moment, by modules A in oneself time stamp T a2 reception, thus can pass through
Formula 2 calculates the flight time of pulse signal between two modules, so that it is determined that flying distance S, in formula 2, C is indicated
The light velocity, formula 2 are expressed as follows:
In the present embodiment, the unmanned vehicle independent Position Fixing Navigation System based on UWB, positioning principle are as follows: known
Time difference/2 distance=light velocity * can determine a point by three circles in two-dimensional surface；In three-dimensional space, by four circles
It can determine a spatial point, in order to obtain preferable Z axis, i.e. elevation information, for four base stations, the height ratio of base station A3
Base station A0, base station A1 and 0.5 meter or 1 meter of base station A2 high, and base station A0, base station A1 and base station A2 are in approximately the same plane.
Unmanned vehicle independent Position Fixing Navigation System provided by the invention based on UWB, working principle or process are as follows:
GNSS signal is weaker or without in the environment of GNSS signal indoors, and the location information of unmanned vehicle is from ultra wide band locating module
It is obtained at 2, after carrying out coordinate conversion, the data of the longitude, latitude and the height that replace traditional GNSS to obtain from satellite, and use
Original GNSS data transport protocol realizes the update of unmanned vehicle indoor location data, completes the autonomous of unmanned vehicle
Aerial mission.
The embodiment of the present application provides a kind of unmanned vehicle independent positioning navigation method based on UWB, comprising: acquires nobody
The relative position information of aircraft and unmanned vehicle ambient enviroment；Unmanned flight is positioned according to the method for ultra wideband location techniques
The location information of device；The opposite letter of the location information of ground station output unmanned vehicle and ambient enviroment on unmanned vehicle
Breath；In ground station reception and handle the location information of unmanned plane during flying device and the relative position letter of unmanned vehicle ambient enviroment
Breath, and control instruction is sent to unmanned vehicle；Unmanned vehicle receives control instruction and realizes independent navigation flight.
Location information according to the method for ultra wideband location techniques positioning unmanned vehicle includes: four places indoors
Not and in addition locating base station is set, by the height setting of wherein three base stations in same level, the height of a base station is set
The level height of three base stations is equal, and four locating base stations is surrounded quadrangle, and according to the coordinate of locating base station as nothing
The reference coordinate of people's aircraft；Using ultra wide band location method, aircraft module is made to realize ultra-wideband communications, exports unmanned flight
The location information of device and the relative position information of ambient enviroment.
In ground station reception and handle the location information of unmanned plane during flying device and the opposite position of unmanned vehicle ambient enviroment
Confidence breath, and the phase that control instruction includes: the location information and ambient enviroment that receive unmanned vehicle is sent to unmanned vehicle
To location information；Control unmanned vehicle is generated according to the relative position information of the location information of unmanned vehicle and ambient enviroment
The control instruction of flight；Control instruction is sent to unmanned vehicle.
Control unmanned vehicle is generated according to the relative position information of the location information of unmanned vehicle and ambient enviroment to fly
Capable control instruction includes: to determine two dimension of the unmanned vehicle in two-dimensional space referring to seat according to ultra wide band location method
Punctuate；Pass through the method ground station output position informations of ultra wideband location techniques and relative position information in unmanned vehicle
Two time points generate two independent timestamps, and the time of data-signal transmitting is calculated according to two independent timestamps；
The three-dimensional reference coordinates of unmanned vehicle in three-dimensional space are calculated according to the time that two-dimentional reference coordinates point, data-signal transmit
Point.
The embodiment of the present application provides a kind of electronic device, please refers to 10, which includes: memory 601, processor
602 and it is stored in the computer program that can be run on memory 601 and on processor 602, processor 602 executes the computer
When program, the unmanned vehicle independent positioning navigation method based on UWB described in previous embodiment is realized.
Further, electronic device further include: at least one input equipment 603 and at least one output equipment 604.
Above-mentioned memory 601, processor 602, input equipment 603 and output equipment 604, are connected by bus 605.
Wherein, input equipment 603 concretely camera, touch panel, physical button or mouse etc..Output equipment
604 concretely display screens.
Memory 601 can be high random access memory body (RAM, Random Access Memory) memory,
It can be non-labile memory (non-volatile memory), such as magnetic disk storage.Memory 601 is for storing one
Group executable program code, processor 602 are coupled with memory 601.
Further, the embodiment of the present application also provides a kind of computer readable storage medium, the computer-readable storages
Medium can be in the electronic device being set in the various embodiments described above, which can be earlier figures 10
Memory 601 in illustrated embodiment.It is stored with computer program on the computer readable storage medium, the program is by processor
602 realize the unmanned vehicle independent positioning navigation method based on UWB described in preceding method embodiment when executing.
Further, the computer can storage medium can also be USB flash disk, mobile hard disk, read-only memory 601 (ROM,
Read-Only Memory), RAM, the various media that can store program code such as magnetic or disk.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the module, only
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple module or components can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or logical of device or module
Letter connection can be electrical property, mechanical or other forms.
The module as illustrated by the separation member may or may not be physically separated, aobvious as module
The component shown may or may not be physical module, it can and it is in one place, or may be distributed over multiple
On network module.Some or all of the modules therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
It, can also be in addition, each functional module in each embodiment of the present invention can integrate in a processing module
It is that modules physically exist alone, can also be integrated in two or more modules in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.
If the integrated module is realized in the form of software function module and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) executes the complete of each embodiment the method for the present invention
Portion or part steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey
The medium of sequence code.
It should be noted that for the various method embodiments described above, describing for simplicity, therefore, it is stated as a series of
Combination of actions, but those skilled in the art should understand that, the present invention is not limited by the sequence of acts described because
According to the present invention, certain steps can use other sequences or carry out simultaneously.Secondly, those skilled in the art should also know
It knows, the embodiments described in the specification are all preferred embodiments, and related actions and modules might not all be this hair
Necessary to bright.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, it may refer to the associated description of other embodiments.
The above are to a kind of description of the unmanned vehicle independent Position Fixing Navigation System based on UWB provided by the present invention,
For those skilled in the art, thought according to an embodiment of the present invention, has in specific embodiments and applications
Change place, to sum up, the contents of this specification are not to be construed as limiting the invention.
Claims (10)
1. a kind of unmanned vehicle independent Position Fixing Navigation System based on UWB characterized by comprising
Aircraft module for carrying unmanned vehicle, and acquires around the location information and unmanned vehicle of unmanned vehicle
The relative position information of environment；
Ultra wide band locating module, for the location information according to the method positioning aircraft modules of ultra wideband location techniques；
Earth station's processing module, for handling the location information and the unmanned vehicle ambient enviroment of the aircraft module
Relative position information, and control instruction is sent to the aircraft module；
Aircraft digital transmission module, for ground station processing module export the unmanned vehicle ambient enviroment relative information and
The location information of the aircraft module, and receive the control instruction.
2. the unmanned vehicle independent Position Fixing Navigation System according to claim 1 based on UWB, which is characterized in that
The ultra wide band locating module includes:
Locating base station is arranged for indoor four places in ultra wide band positioning unit, and four locating base stations surround quadrangle,
And three locating base stations are located at same level, a locating base station and the other three locating base station are not located at same level,
Reference coordinate according to the coordinate of the locating base station as aircraft module.
3. the unmanned vehicle independent Position Fixing Navigation System according to claim 1 based on UWB, which is characterized in that
Earth station's processing module includes:
Number leaflets member, for receive the aircraft module of ultra wide band locating module transmission location information and the opposite position
Confidence breath, and for sending the control instruction to the aircraft module；
Information process unit, for being generated according to the location information of aircraft module and the relative position information, control is described to fly
The control instruction of row device module.
4. the unmanned vehicle independent Position Fixing Navigation System according to claim 3 based on UWB, which is characterized in that
The information process unit includes:
Two-dimensional coordinate point determines subelement, for determining an aircraft module two-dimentional empty according to the ultra wide band locating module
Interior two-dimentional reference coordinates point；
Flying distance calculates subelement, and the data-signal for being emitted according to ultra wide band locating module generates two independent times
Stamp, and the time that data-signal transmits is calculated according to two independent timestamps；
Three-dimensional coordinate point determines subelement, for determining that subelement and the ultra wide band locating module determine according to the coordinate points
The three-dimensional reference coordinates point of aircraft module in three-dimensional space.
5. a kind of unmanned vehicle independent positioning navigation method based on UWB characterized by comprising
Acquire the location information of unmanned vehicle and the relative position information of unmanned vehicle ambient enviroment；
The location information of unmanned vehicle is positioned according to the method for ultra wideband location techniques；
The relative information of the location information of ground station output unmanned vehicle and ambient enviroment on unmanned vehicle；
In ground station reception and handle the location information of unmanned plane during flying device and the relative position letter of unmanned vehicle ambient enviroment
Breath, and control instruction is sent to unmanned vehicle；
Unmanned vehicle receives the control instruction and realizes independent navigation flight.
6. the unmanned vehicle independent positioning navigation method according to claim 5 based on UWB, which is characterized in that
It is described according to the method for ultra wideband location techniques position unmanned vehicle location information include:
Locating base station is arranged in four places indoors, by the height setting of wherein three base stations in same level, setting one
The height of a base station is not equal with the level height of the other three base station, and four locating base stations are surrounded quadrangle, and according to
Reference coordinate of the coordinate of locating base station as unmanned vehicle；
Using ultra wide band location method, aircraft module is made to realize ultra-wideband communications, export unmanned vehicle location information and
The relative position information of ambient enviroment.
7. the unmanned vehicle independent positioning navigation method according to claim 5 based on UWB, which is characterized in that
It is described in ground station reception and the opposite position of the location information and unmanned vehicle ambient enviroment that handle unmanned plane during flying device
Confidence breath, and send control instruction to unmanned vehicle and include:
Receive the location information of unmanned vehicle and the relative position information of ambient enviroment；
Control unmanned vehicle flight is generated according to the relative position information of the location information of unmanned vehicle and ambient enviroment
Control instruction；
The control instruction is sent to unmanned vehicle.
8. the unmanned vehicle independent positioning navigation method according to claim 7 based on UWB, which is characterized in that
It is described to be flown according to the location information of unmanned vehicle and the relative position information generation control unmanned vehicle of ambient enviroment
Capable control instruction includes:
Two-dimentional reference coordinates point of the unmanned vehicle in two-dimensional space is determined according to ultra wide band location method；
Pass through the method ground station output position informations of ultra wideband location techniques and relative position information in unmanned vehicle
Two time points generate two independent timestamps, and the time of data-signal transmitting is calculated according to two independent timestamps；
Unmanned vehicle is calculated in three-dimensional space according to time of the two-dimentional reference coordinates point, data-signal transmitting
Three-dimensional reference coordinates point.
9. a kind of electronic device, comprising: memory, processor and be stored on the memory and can transport on the processor
Capable computer program, which is characterized in that when the processor executes the computer program, realize in claim 5 to 8
Any one the method.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
When being executed by processor, any one the method in claim 5 to 8 is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811377059.7A CN109270956A (en) | 2018-11-19 | 2018-11-19 | A kind of unmanned vehicle independent Position Fixing Navigation System based on UWB |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811377059.7A CN109270956A (en) | 2018-11-19 | 2018-11-19 | A kind of unmanned vehicle independent Position Fixing Navigation System based on UWB |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109270956A true CN109270956A (en) | 2019-01-25 |
Family
ID=65190734
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811377059.7A Pending CN109270956A (en) | 2018-11-19 | 2018-11-19 | A kind of unmanned vehicle independent Position Fixing Navigation System based on UWB |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109270956A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110244770A (en) * | 2019-04-14 | 2019-09-17 | 西安烛龙智能科技有限公司 | A kind of accurate landing system of unmanned plane based on UWB positioning |
| CN110309883A (en) * | 2019-07-01 | 2019-10-08 | 哈尔滨理工大学 | A kind of unmanned plane autonomic positioning method of view-based access control model SLAM |
| CN111580557A (en) * | 2020-05-27 | 2020-08-25 | 福州大学 | Unmanned aerial vehicle construction site dynamic patrol shooting system and shooting method thereof |
| CN111915957A (en) * | 2020-08-24 | 2020-11-10 | 湖南捷飞科技有限公司 | Unmanned aerial vehicle driving training system based on ultra-wideband radio positioning technology |
| CN112219137A (en) * | 2019-08-20 | 2021-01-12 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle positioning method and device, unmanned aerial vehicle and computer readable medium |
| CN114967730A (en) * | 2022-04-08 | 2022-08-30 | 大连海事大学 | Cross-domain cooperative control system of air-sea unmanned cluster |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106200656A (en) * | 2016-06-27 | 2016-12-07 | 北京大工科技有限公司 | Unmanned vehicle system for tracking based on differential satellite navigation and method |
| KR20170092205A (en) * | 2016-02-03 | 2017-08-11 | 한양대학교 에리카산학협력단 | Flight Control Method of Unmanned Aerial Vehicle Based on Ultra Wideband Location and Apparatus therefor, Ultra Wideband Based Location System |
| CN108279003A (en) * | 2018-02-01 | 2018-07-13 | 福州大学 | It is a kind of based on the unmanned plane high accuracy positioning cruising inspection system used suitable for substation |
| CN209265270U (en) * | 2018-11-19 | 2019-08-16 | 深圳大学 | A kind of unmanned vehicle independent Position Fixing Navigation System based on UWB |
-
2018
- 2018-11-19 CN CN201811377059.7A patent/CN109270956A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20170092205A (en) * | 2016-02-03 | 2017-08-11 | 한양대학교 에리카산학협력단 | Flight Control Method of Unmanned Aerial Vehicle Based on Ultra Wideband Location and Apparatus therefor, Ultra Wideband Based Location System |
| CN106200656A (en) * | 2016-06-27 | 2016-12-07 | 北京大工科技有限公司 | Unmanned vehicle system for tracking based on differential satellite navigation and method |
| CN108279003A (en) * | 2018-02-01 | 2018-07-13 | 福州大学 | It is a kind of based on the unmanned plane high accuracy positioning cruising inspection system used suitable for substation |
| CN209265270U (en) * | 2018-11-19 | 2019-08-16 | 深圳大学 | A kind of unmanned vehicle independent Position Fixing Navigation System based on UWB |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110244770A (en) * | 2019-04-14 | 2019-09-17 | 西安烛龙智能科技有限公司 | A kind of accurate landing system of unmanned plane based on UWB positioning |
| CN110309883A (en) * | 2019-07-01 | 2019-10-08 | 哈尔滨理工大学 | A kind of unmanned plane autonomic positioning method of view-based access control model SLAM |
| CN112219137A (en) * | 2019-08-20 | 2021-01-12 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle positioning method and device, unmanned aerial vehicle and computer readable medium |
| CN111580557A (en) * | 2020-05-27 | 2020-08-25 | 福州大学 | Unmanned aerial vehicle construction site dynamic patrol shooting system and shooting method thereof |
| CN111915957A (en) * | 2020-08-24 | 2020-11-10 | 湖南捷飞科技有限公司 | Unmanned aerial vehicle driving training system based on ultra-wideband radio positioning technology |
| CN114967730A (en) * | 2022-04-08 | 2022-08-30 | 大连海事大学 | Cross-domain cooperative control system of air-sea unmanned cluster |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109270956A (en) | A kind of unmanned vehicle independent Position Fixing Navigation System based on UWB | |
| US11237263B2 (en) | High-precision time of flight measurement systems | |
| CN109597027B (en) | Positioning system and method based on single base station | |
| CN109283565B (en) | Indoor and outdoor positioning system and method based on UWB fusion GPS and inertial navigation | |
| Shi et al. | Anchor self-localization algorithm based on UWB ranging and inertial measurements | |
| Xiao et al. | Comparison and analysis of indoor wireless positioning techniques | |
| CN109282811A (en) | Indoor and outdoor positioning system and method for interconnecting UWB (ultra wide band) and smart phone | |
| TWI712327B (en) | Ultra-wideband assisted precise positioning system and method | |
| CN103096462B (en) | Non-ranging node locating method of wireless sensor network | |
| CN113196084A (en) | Positioning system, vehicle control system and method thereof | |
| CN108414982A (en) | A kind of communication buoy and its networking for hydrolocation | |
| CN104808675A (en) | Intelligent terminal-based somatosensory flight operation and control system and terminal equipment | |
| CN108520640B (en) | Ultra-wideband-based unmanned aerial vehicle navigation method, navigation equipment and unmanned aerial vehicle | |
| Li et al. | An indoor ultrasonic positioning system based on TOA for Internet of Things | |
| CN105892492A (en) | Unmanned aerial vehicle communication control method and device | |
| CN108681338A (en) | A kind of telemetering and remote control system of submarine navigation device | |
| CN110806205B (en) | Micro unmanned aerial vehicle navigation method based on passive radio frequency tag | |
| CN108008433A (en) | The indoor slitless connection alignment system in outdoor based on UWB and GPS technology | |
| CN209265270U (en) | A kind of unmanned vehicle independent Position Fixing Navigation System based on UWB | |
| US10942241B2 (en) | System for indoor and outdoor position measurement | |
| CN103995537A (en) | Indoor and outdoor mixed autonomous cruising system and method of aircraft | |
| CN110309883A (en) | A kind of unmanned plane autonomic positioning method of view-based access control model SLAM | |
| CN109889978A (en) | Base station positioning method and device | |
| CN107607974B (en) | It is a kind of can rapid deployment Emergency Logistics equip method for tracking and positioning | |
| Lavrenko et al. | Autonomous swarm of UAVs for tracking of flying insects with harmonic radar |
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 |