CN109309522B - Method, device and system for signal transmission and unmanned aerial vehicle positioning - Google Patents
Method, device and system for signal transmission and unmanned aerial vehicle positioning Download PDFInfo
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- CN109309522B CN109309522B CN201710633605.8A CN201710633605A CN109309522B CN 109309522 B CN109309522 B CN 109309522B CN 201710633605 A CN201710633605 A CN 201710633605A CN 109309522 B CN109309522 B CN 109309522B
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- aerial vehicle
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/155—Ground-based stations
- H04B7/15507—Relay station based processing for cell extension or control of coverage area
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/155—Ground-based stations
- H04B7/15528—Control of operation parameters of a relay station to exploit the physical medium
Abstract
The embodiment of the invention provides a method, a device and a system for signal transmission and unmanned aerial vehicle positioning, wherein the method for signal transmission comprises the following steps: determining a relay station associated with the fixed base station; the relay stations are provided with at least two relay stations, the at least two relay stations adopt the same communication channel to transmit signals, and the signal coverage areas of the at least two relay stations have an overlapping area; determining a signal transmission sequence of the at least two relay stations; and controlling the at least two relay stations to alternately transmit signals according to the signal transmission sequence. By the embodiment of the invention, the signals of the fixed base station are forwarded by adopting the at least two relay stations, the signal coverage area is enlarged, a communication channel does not need to be switched when the fixed base station communicates with the at least two relay stations, and even if the at least two relay stations are set to alternately transmit the signals in the overlapping area of the signal coverage areas of the at least two relay stations, the unmanned aerial vehicle can normally receive the signals.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a signal transmitting method and device, an unmanned aerial vehicle positioning method and system and an unmanned aerial vehicle.
Background
An Unmanned Aerial Vehicle (UAV) is an Unmanned Aerial Vehicle operated by a radio remote control device and a self-contained program control device. The unmanned aerial vehicle has wide application and is often applied to the industries of city management, agriculture, geology, meteorology, electric power, emergency and disaster relief, video shooting and the like. For example, drones may be used in agriculture to spray agricultural products with pesticides, fertilizers, etc.
In prior art, unmanned aerial vehicle adopts 4G network or radio station to communicate with fixed base station usually, and fixed base station can directly give unmanned aerial vehicle with signal transmission, and perhaps, fixed base station can give the server with the signal, sends the signal for unmanned aerial vehicle by the server again for unmanned aerial vehicle received signal.
Then, radio station and unmanned aerial vehicle direct communication distance are limited, generally within 2KM, and prior art requires very high to the network signal, if the unable region that covers of network, like the mountain foot, can lead to unmanned aerial vehicle and fixed base station unable normal communication, unmanned aerial vehicle then can not the received signal, and then can not fix a position, even if can communicate reluctantly, nevertheless because communication real-time is poor, the signal overtime is more serious, also can influence unmanned aerial vehicle's location.
Disclosure of Invention
In view of the above, embodiments of the present invention are proposed in order to provide a method and apparatus for signal transmission, a method and system for positioning a drone and a drone that overcome or at least partially solve the above problems.
In order to solve the above problem, an embodiment of the present invention discloses a method for transmitting a signal, where the method includes:
determining a relay station associated with the fixed base station; the relay stations are provided with at least two relay stations, the at least two relay stations adopt the same communication channel to transmit signals, and the signal coverage areas of the at least two relay stations have an overlapping area;
determining a signal transmission sequence of the at least two relay stations;
and controlling the at least two relay stations to alternately transmit signals according to the signal transmission sequence.
Preferably, the signal includes differential correction data, and the step of controlling the at least two relay stations to alternately transmit signals according to the signal transmission sequence includes:
acquiring differential correction data sent by the fixed base station;
transmitting the differential correction data to the at least two relay stations;
controlling the at least two relay stations to alternately transmit the differential correction data according to the signal transmission sequence; wherein the differential correction data is used for positioning of the drone.
Preferably, the step of controlling the at least two relay stations to alternately transmit the differential correction data according to the signal transmission order includes:
performing time synchronization on the at least two relay stations;
and controlling the at least two relay stations to alternately transmit the differential correction data according to the signal transmission sequence and a preset time interval.
The embodiment of the invention also discloses a method for positioning the unmanned aerial vehicle, which comprises the following steps:
receiving a signal transmitted by a relay station; if the number of the relay stations is at least two, the at least two relay stations adopt the same communication channel to transmit signals, and the signal coverage areas of the at least two relay stations have an overlapping area, the signals are signals alternately transmitted by the at least two relay stations;
based on the signal, locating the drone.
Preferably, the signal includes differential correction data, and the step of locating the drone based on the signal includes:
acquiring first positioning information of the unmanned aerial vehicle;
determining second positioning information of the drone based on the first positioning information and the differential correction data.
Preferably, the method further comprises the following steps:
determining track information aiming at an object to be operated;
and based on the second positioning information, operating the object to be operated according to the flight path information.
Preferably, the at least two relay stations have the same associated fixed base station, and the signal is a signal transmitted by the fixed base station.
The embodiment of the invention also discloses a signal transmitting device, which comprises:
an associated relay station determining module, configured to determine a relay station associated with the fixed base station; the relay stations are provided with at least two relay stations, the at least two relay stations adopt the same communication channel to transmit signals, and the signal coverage areas of the at least two relay stations have an overlapping area;
a signal transmission sequence determining module, configured to determine a signal transmission sequence of the at least two relay stations;
and the alternate transmitting module is used for controlling the at least two relay stations to alternately transmit signals according to the signal transmitting sequence.
Preferably, the signal comprises differential correction data, and the alternating transmission module comprises:
a differential correction data acquisition submodule for acquiring differential correction data transmitted by the fixed base station;
a differential correction data transmission submodule, configured to transmit the differential correction data to the at least two relay stations;
a control differential correction data transmission submodule used for the at least two relay stations to alternately transmit the differential correction data according to the signal transmission sequence; wherein the differential correction data is used for positioning of the drone.
Preferably, the control differential correction data transmission submodule includes:
a time synchronization unit, configured to perform time synchronization on the at least two relay stations;
and the time interval transmitting unit is used for controlling the at least two relay stations to alternately transmit the differential correction data according to the signal transmission sequence and a preset time interval.
The embodiment of the invention also discloses an unmanned aerial vehicle, which comprises:
the signal receiving module is used for receiving the signal transmitted by the relay station; if the number of the relay stations is at least two, the at least two relay stations adopt the same communication channel to transmit signals, and the signal coverage areas of the at least two relay stations have an overlapping area, the signals are signals alternately transmitted by the at least two relay stations;
and the unmanned aerial vehicle positioning module is used for positioning the unmanned aerial vehicle based on the signal.
Preferably, the signal includes differential correction data, and the drone positioning module includes:
the first positioning information acquisition sub-module is used for acquiring first positioning information of the unmanned aerial vehicle;
and the second positioning information determining submodule is used for determining second positioning information of the unmanned aerial vehicle based on the first positioning information and the differential correction data.
Preferably, the method further comprises the following steps:
the flight path information determining module is used for determining flight path information aiming at the object to be operated;
and the operation module is used for operating the object to be operated according to the flight path information based on the second positioning information.
Preferably, the at least two relay stations have the same associated fixed base station, and the signal is a signal transmitted by the fixed base station.
The embodiment of the invention also discloses a system for positioning the unmanned aerial vehicle, which comprises a fixed base station, a server, at least two relay stations associated with the fixed base station and the unmanned aerial vehicle, wherein the at least two relay stations adopt the same communication channel to transmit signals, the signal coverage areas of the at least two relay stations have an overlapping area,
the fixed base station is used for generating signals and sending the signals to the server;
the server is used for receiving the signals sent by the fixed base station and controlling the at least two relay stations to alternately transmit the received signals according to the signal transmission sequence after the signal transmission sequence of the at least two relay stations is determined;
the at least two relay stations are used for alternately transmitting the received signals according to the signal transmission sequence;
the unmanned aerial vehicle is used for receiving the signal that the relay station launched, and based on the signal is to the unmanned aerial vehicle advances line location.
The embodiment of the invention also discloses an aircraft, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the program to realize the steps of the method.
The embodiment of the invention also discloses a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer program realizes the steps of the method when being executed by a processor.
The embodiment of the invention has the following advantages:
on the one hand, by determining the relay stations associated with the fixed base station, the relay stations have at least two relay stations, the at least two relay stations can transmit signals by using the same communication channel, and the signal coverage areas of the at least two relay stations have an overlapping area, after the at least two relay stations are determined, the signal transmission sequence of the at least two relay stations can be further determined, and then the at least two relay stations are controlled to alternately transmit signals according to the signal transmission sequence, so that the signals of the fixed base station can be forwarded by using the at least two relay stations, the signal coverage area is increased, and the communication channel does not need to be switched when the at least two relay stations are communicated, and even if the at least two relay stations are set to alternately transmit signals in the overlapping area of the signal coverage areas of the at least two relay stations, the unmanned aerial vehicle can normally receive the signals.
On the other hand, by receiving the signals transmitted by the relay stations, if the relay stations have at least two relay stations, the at least two relay stations transmit the signals by adopting the same communication channel, and the signal coverage areas of the at least two relay stations have overlapping areas, the signals can be the signals alternately transmitted by the at least two relay stations, after the signals are received, the unmanned aerial vehicle can be positioned based on the signals, the unmanned aerial vehicle can be positioned with high precision based on the signals transmitted by the at least two relay stations, the communication channel does not need to be switched when the unmanned aerial vehicle is communicated with the at least two relay stations, even if the at least two relay stations are set to alternately transmit the signals in the overlapping areas of the signal coverage areas of the at least two relay stations, the unmanned aerial vehicle can normally receive the signals to perform high-precision positioning.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic diagram of a system for positioning a drone, in accordance with an embodiment of the present invention;
fig. 2 is a schematic diagram of a fixed base station according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a relay station according to an embodiment of the present invention;
fig. 4 is a schematic diagram of another relay station of an embodiment of the present invention;
FIG. 5 is a flow chart of steps of a method of signal transmission in accordance with an embodiment of the present invention;
FIG. 6 is a schematic diagram of a signal coverage area of an embodiment of the present invention;
fig. 7 is a flowchart illustrating steps of a method for positioning a drone, in accordance with an embodiment of the present invention;
FIG. 8 is a block diagram of a signal transmitting apparatus according to an embodiment of the present invention;
fig. 9 is a block diagram of a positioning apparatus for an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. 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.
In the embodiment of the invention, by applying an RTK (Real-Time Kinematic) carrier phase differential technology, the fixed base station can generate differential correction data, and then the differential correction data is transmitted to the unmanned aerial vehicle in Real Time by means of a relay station erected at a high altitude position, so that the high-precision positioning of the unmanned aerial vehicle is realized.
The RTK (Real-time kinematic) carrier phase differential technology is a differential method for processing carrier phase observed quantities of two measuring stations in Real time, and the carrier phase acquired by a reference station is sent to a user receiver for difference solving. The method is a new common GPS (Global positioning System) measurement method, the former static, fast static and dynamic measurements all need to be solved afterwards to obtain centimeter-level precision, the RTK is a measurement method capable of obtaining centimeter-level positioning precision in real time in the field, a carrier phase dynamic real-time difference method is adopted, the method is a great milestone of GPS application, the appearance of the method is project lofting and terrain mapping, new eosin is brought for various control measurements, and the field operation efficiency is greatly improved.
The differential correction data can be RTCM data, namely data in an RTCM format, and can comprise position correction and clock correction information, and the differential correction data is mainly used for eliminating errors caused by satellite clocks, ionized layers, satellite propagation delay errors, internal noise of a GPS module, channel delay and the like.
As shown in fig. 1, the schematic diagram of a system for positioning a drone according to an embodiment of the present invention is shown, where the system may include a fixed base station 101, a server 102, at least two relay stations 103 associated with the fixed base station 101, and a drone 104, and at least two relay stations 103 may transmit signals using the same communication channel, and there may be an overlapping area in signal coverage areas of at least two relay stations 103.
In a preferred embodiment, the system may further include a ground station 105, and the ground station 105 may be configured to read information of the fixed base station 101 and the at least two relay stations 103, such as whether to locate, longitude and latitude of the location, an operating status, a software version, and the like, and may further perform software upgrade on the fixed base station 101 and the at least two relay stations 103.
The fixed base station 101 may be configured to generate and transmit a signal to the server 102, as shown in fig. 2, the fixed base station 101 may include an MCU (micro controller Unit) 1011, and a GPS module 1012, a bluetooth module 1013, a 4G module 1014, a station module 1015, and an indicator light 1016 connected to the MCU1011 via serial ports.
The GPS module 1012 may be configured to locate and output differential correction data, such as a GPS board;
the bluetooth module 1013 may be used for communication between the fixed base station 101 and the ground station 105, and the ground station 105 may send a command to the fixed base station 101, configure the fixed base station 101, obtain related information of the fixed base station 101, and the like through the bluetooth module 1013.
The 4G module 1014 may be used for the fixed base station 101 to communicate with the server 102, and may support 2G, 3G, 4G, full network communication.
The server 102 may be configured to receive a signal sent by the fixed base station 101, and after determining a signal transmission order of the at least two relay stations 103, control the at least two relay stations 103 to alternately transmit the received signal according to the signal transmission order;
the at least two relay stations 103 may be configured to alternately transmit the received signals according to a signal transmission sequence, as shown in fig. 3, each of the at least two relay stations 103 may include an MCU (Microcontroller Unit) 1031, and a bluetooth module 1032, a 4G module 1033, a station module 1034, and an indicator light 1035, which are connected to the MCU10131 via serial ports.
The bluetooth module 1032 may be used for communication between the relay station and the ground station 105, and the ground station may send a command to the ground station 105, configure the ground station 105, obtain relevant information of the ground station 105, and the like through the bluetooth module 1032.
The 4G module 1033 may be used for the communication between the ground station 105 and the server 102, may support 2G, 3G, 4G, and full internet communications, and may be used to support a positioning System, such as GPS, GLONASS (Global Navigation Satellite System), BeiDou (BeiDou Navigation Satellite System), and is used to position the position of itself.
Specifically, as shown in fig. 4, the MCU1031 may include a first MCU main controller 10311 and a second MCU main controller 10312 connected to the first MCU main controller 10311 via a serial port.
The first MCU master controller 10311 may be connected to the bluetooth module 1032, the radio module 1034 and the indicator light 1035 through a serial port, and the second MCU master controller 10312 may be connected to the 4G module 1033.
In practical applications, each relay station may further include a total power source 1036, and an ldo (low Dropout regulator) power source 10361, a 4G power source 10362, and a station power source 10363 connected to the total power source 1036.
The total power source 1036 may supply power to the LDO power sources 10361, 4G power sources 10362, and the station power source 10363, the LDO power source 10361 may supply power to the first MCU main controller 10311 and the bluetooth module 1032, the 4G power source 10362 may supply power to the 4G module 1033 and the second MCU main controller 10312, and the station power source 10363 may supply power to the station module 1034.
In a preferred example, the relay station may further include a Flash memory 1037, and the Flash memory 1038 may be connected with the first MCU master controller 10311 through a Serial Peripheral Interface (SPI).
The working principle of the relay station is described below with reference to fig. 4:
(1) powering up
After the main power source 1036 is turned on, the Current is stepped down by the DC-DC converter, and a VCC (Volt Current concentrator) is output, and the VCC is input to the LDO power source 10361, and outputs a 3.3V voltage to supply power to the first MCU main controller 10311 and the bluetooth module 1032.
The first MCU main controller 10311 may set the baud rate to 11500kbps, and then send an AT (attention) instruction to the bluetooth module 1032 via the serial port, and the bluetooth module 1032 may return a determination message after receiving the AT instruction, so that the first MCU main controller 10311 and the bluetooth module 1032 handshake successfully, and may start to transmit data.
First MCU master controller 10311 may also enable radio station power supply 10363 to supply power to radio station module 1034, and first MCU master controller 10311 may enter a pass-through mode after initialization of radio station module 1034 is completed, where the pass-through mode is a mode in which first MCU master controller 10311 is responsible for forwarding the data of the GPS module to radio station module 1034 without any processing of the data itself.
The first MCU main controller 10311 may enable the 4G power supply 10362, the 4G power supply 10362 may provide one path of 4V current to supply power to the 4G module 1033, and may also provide one path of 3.3V current to supply power to the second MCU main controller 10312, the second MCU main controller 10312 may start the 4G module 1033, and may set a connection network to the 4G module 1033 through a serial port after initialization of the 4G module 1033 is completed.
It should be noted that the relay station can support three operators, namely mobile operators, communication operators and telecommunication operators, and automatically switches the operators with good signals, and during the power-on process, the SIM card of the operator is used by default, and if the following three conditions exist, the SIM card of the operator is switched to ensure the stability of the system and the real-time and stability of transmission: 1. the Signal quality of the RSSI (received Signal Strength indication) read is lower than a preset value; 2. if data are frequently disconnected and unstable during transmission; 3. the current SIM card is not detected.
(2) Transmitting data
The first MCU master controller 10311 may broadcast RTCM data through the 4G module 1033 or the station module 1034 as follows:
if the broadcast mode is selected, the broadcast mode can be set by starting APP at the ground station 105, searching Bluetooth for pairing, and entering an APP interface.
If the cloud mode is selected, the first MCU main controller 10311 may send the RTCM data to the second MCU main controller 10312 through the serial port, and the second MCU main controller 10312 performs data transmission through the serial port control 4G module 1033, and transmits the data through the antenna of the 4G module 1033.
If the radio station mode is selected, the first MCU main controller 10311 may transmit the RTCM data to the radio station module 1034 through the serial port, and then transmit the RTCM data through the antenna of the radio station module 1034.
The information of the relay station can be transmitted back to the ground station 105 in real time through the 2.4G of the bluetooth module 1032, the relay station can also be upgraded through the bluetooth module 1032, the first MCU master controller 10311 first stores the received data to the Flash memory 1038 through the SPI, after the file transmission is completed, the first MCU master controller 10311 reads the file stored in the Flash memory 1038 through the SPI and performs verification, if the verification is passed, the upgrade is performed, otherwise, the upgrade is abandoned.
It should be noted that fig. 4 and the description of the relay station principle in conjunction with fig. 4 may also be applicable to the fixed base station 101, except that the fixed base station 101 may further include a GPS module 1012 and a GPS power supply module (not shown in the figure), the GPS module 1012 may be connected to the first MCU main controller through a serial port, the first MCU main controller may enable the GPS power supply module to output a 3.3V current to supply power to the GPS module 1012, and the first MCU main controller may configure the GPS module 1012 through the serial port after the GPS module is initialized.
In order to make the above system more clearly understood by those skilled in the art, the following description is made from the fixed base station and the relay station, respectively.
(1) Fixed base station
Starting the equipment, connecting the equipment by using a ground station through Bluetooth, sending a command by the ground station to set the equipment as a fixed base station, inputting a known reference coordinate or acquiring longitude and latitude for a period of time through positioning of a GPS module, and converging the reference coordinate after reaching a certain precision.
The GPS module calculates differential correction data through the current positioning data and the known reference coordinates, the differential correction data are output to the MCU in an RTCM format, and after the MCU receives the RTCM data output by the GPS module, the RTCM data are broadcasted through the 4G module, and meanwhile, the RTCM data are transmitted to the server through the network.
(2) Relay station
The method comprises the steps that equipment is started, the relay station sends self positioning coordinates to a server after positioning, the server calculates a fixed base station within a preset distance from the relay station after receiving the coordinates, then the ID of the fixed base station closest to the relay station is transmitted to a 4G module of the relay station through a network, the 4G module receives data and transmits the data to an MCU, the MCU requests the server for RTCM data of the fixed base station at preset intervals after obtaining the ID, and related information is transmitted to a ground station through Bluetooth for displaying.
If the user clicks a search button of the ground station, the server sends the ID of the fixed base station within the preset distance to the relay station through the network, the relay station transmits the ID to the ground station through Bluetooth, and then the operator can manually select the fixed base station.
After the relay station received the RTCM data of fixed basic station, can give the radio station module with RTCM data transmission through MCU, the radio station module gives unmanned aerial vehicle with RTCM data transmission again, after unmanned aerial vehicle received RTCM data, unmanned aerial vehicle can adopt the GPS module of presetting to fix a position, GPS module utilizes the great locating information of self positioning error, the RTCM correction data that the relay station sent is received in the combination, calculate the precision at the high accuracy coordinate of 2 centimetre within ranges.
Referring to fig. 5, a flow chart of steps of a method of signal transmission of an embodiment of the present invention is shown.
The following description is performed from the server side, and may specifically include the following steps:
since the signal coverage area of the fixed base station is limited, in order to increase the signal coverage area, a relay station may be erected at a high altitude, and the relay station associated with the fixed base station may relay the signal of the fixed base station.
In the embodiment of the present invention, the server may determine the relay stations associated with the fixed base station, the relay stations may have at least two relay stations, and in order to enable the drone to receive the signal without switching the communication channel, the at least two relay stations may transmit the signal using the same communication channel.
As an example, the same communication channel may be the same frequency band.
Since there are at least two relay stations, there may be an overlapping area in the signal coverage areas of at least two relay stations, and the overlapping area may be an overlapping area of the signal coverage areas of any two or more relay stations, as shown in fig. 6, at least two relay stations associated with a fixed base station are divided into relay stations A, B, C, D, E, area a is a signal coverage area of relay station a, area B is a signal coverage area of relay station B, area C is a signal coverage area of relay station C, area D is a signal coverage area of relay station D, area E is a signal coverage area of relay station E, and there is an overlapping area between areas a, B, C, D, and E.
Meanwhile, at least two relay stations transmit signals through the same communication channel, so that when the unmanned aerial vehicle receives signals transmitted by two or more relay stations at the same time, the unmanned aerial vehicle can analyze data disorderly, and data are discarded.
in order to avoid that the drone receives signals transmitted by two or more relay stations at the same time, the server may determine a signal transmission order for at least two relay stations associated with the fixed base station, as shown in fig. 6, relay station a transmits signals in a first order, relay station B transmits signals in a second order, and so on.
In the embodiment of the present invention, the fixed base station may send a signal to the server, at least two relay stations associated with the fixed base station may request the server to acquire the signal sent by the fixed base station to the server, and the server sends the signal to the at least two relay stations and controls the at least two relay stations to alternately transmit the signal according to the signal transmission order.
In a preferred embodiment of the present invention, the signal may comprise differential correction data, and step 503 may comprise the sub-steps of:
substep S11, obtaining differential correction data sent by the fixed base station;
in the embodiment of the present invention, the fixed base station may send the differential correction data to the server, and the server may obtain the differential correction data sent by the fixed base station.
Substep S12, transmitting the differential correction data to the at least two relay stations;
after the server obtains the differential correction data, at least two relay stations associated with the fixed base station may request the server to obtain the differential correction data sent by the fixed base station to the server, and after receiving the request of the relay stations, the server may send the differential correction data to the relay stations.
It should be noted that the differential correction data sent by the fixed base station to the server may be in real time, and when receiving the request of the relay station, the server may send the real-time differential correction data to the relay station.
A substep S13 of controlling the at least two relay stations to alternately transmit the differential correction data according to the signal transmission sequence; wherein the differential correction data is used for positioning of the drone.
When the at least two relay stations continuously receive the real-time differential correction data, the server may control the at least two relay stations to alternately transmit the real-time received differential correction data according to a signal transmission sequence.
In a preferred embodiment of the present invention, the sub-step S13 may include the following sub-steps:
substep S131, performing time synchronization on the at least two relay stations;
in the embodiment of the present invention, the server may perform time synchronization on at least two relay stations associated with the fixed base station, for example, using GPS time as synchronization.
And a substep S132 of controlling the at least two relay stations to alternately transmit the differential correction data according to the signal transmission sequence and a preset time interval.
In order to implement the alternate transmission of the at least two relay stations, the server may set a preset time interval, and after the time synchronization is performed on the at least two relay stations, the at least two relay stations use the same time, and the server may control the at least two relay stations to alternately transmit the differential correction data according to the signal transmission sequence and the preset time interval.
As shown in fig. 6, the preset time interval is 1 second, the relay station a transmits signals in the first order, the relay station B transmits signals in the second order, the relay station B starts to transmit signals 1 second after the relay station a transmits signals, and other relay stations alternately transmit signals according to the signal transmission order and the preset time interval.
In the embodiment of the invention, by determining the relay stations associated with the fixed base station, the relay stations have at least two, the at least two relay stations can transmit signals by using the same communication channel, and the signal coverage areas of the at least two relay stations have an overlapping area, after the at least two relay stations are determined, the signal transmission sequence of the at least two relay stations can be further determined, and then the at least two relay stations are controlled to alternately transmit signals according to the signal transmission sequence, so that the signals of the fixed base station can be forwarded by using the at least two relay stations, the signal coverage area is increased, and the communication channel does not need to be switched when the at least two relay stations are communicated with the at least two relay stations, even if the at least two relay stations are set to alternately transmit signals in the overlapping area of the signal coverage areas of the at least two relay stations, the unmanned aerial vehicle can normally receive the signals.
Referring to fig. 7, a flowchart illustrating steps of a method for positioning a drone according to an embodiment of the present invention is shown.
The following description is made from the unmanned aerial vehicle side, and specifically may include the following steps:
at least two relay stations may have the same associated fixed base station, and the signal may be a signal transmitted by the fixed base station.
Specifically, the fixed base station may send a signal to the server, the server determines at least two relay stations associated with the fixed base station, determines a signal transmission sequence of the at least two relay stations, and then controls the at least two relay stations to alternately transmit the signal according to the signal transmission sequence, and the drone may receive the signal transmitted by the relay stations.
After receiving the signal transmitted by the relay station, the unmanned aerial vehicle can position the unmanned aerial vehicle according to the received signal, and high-precision positioning information is determined.
In a preferred embodiment of the present invention, the signal may include differential correction data, and step 702 may include the sub-steps of:
substep S21, acquiring first positioning information of the unmanned aerial vehicle;
in the embodiment of the invention, the unmanned aerial vehicle is provided with the preset GPS module, the unmanned aerial vehicle can adopt the GPS module to acquire the first positioning information of the unmanned aerial vehicle, and the accuracy of the first positioning information is lower, such as meter-level coordinates.
Substep S22, determining second positioning information of the drone based on the first positioning information and the differential correction data; wherein the second positioning information has a greater accuracy than the first positioning information.
After the first positioning information is obtained, the unmanned aerial vehicle can determine second positioning information of the unmanned aerial vehicle by combining the first positioning information and the differential correction data and applying an RTK (real-time kinematic) technology, wherein the second positioning information is high in accuracy, such as centimeter-level coordinates.
It should be noted that unmanned aerial vehicle can also include preset radio station module, 4G module, breaks down when certain relay station, leads to unmanned aerial vehicle can not receive the difference correction data through the radio station module, and unmanned aerial vehicle also can automatic switch over and use the 4G module to obtain the difference correction data to ensure that unmanned aerial vehicle location is accurate.
In a preferred embodiment of the present invention, the method may further comprise the steps of:
determining track information aiming at an object to be operated; and based on the second positioning information, operating the object to be operated according to the flight path information.
In the embodiment of the invention, the unmanned aerial vehicle can determine the flight path information of the object to be operated, and after the second positioning information with high precision is obtained, the unmanned aerial vehicle can navigate to the position corresponding to the flight path information based on the second positioning information to operate the object to be operated.
In the embodiment of the invention, by receiving the signals transmitted by the relay stations, if the relay stations have at least two, the at least two relay stations transmit the signals by adopting the same communication channel, and the signal coverage areas of the at least two relay stations have overlapping areas, the signals can be the signals alternately transmitted by the at least two relay stations, after the signals are received, the unmanned aerial vehicle can be positioned based on the signals, so that the unmanned aerial vehicle can be positioned with high precision based on the signals transmitted by the at least two relay stations, the communication channels do not need to be switched when the unmanned aerial vehicle is communicated with the at least two relay stations, and even if the at least two relay stations are set to alternately transmit the signals in the overlapping areas of the signal coverage areas of the at least two relay stations, the unmanned aerial vehicle can normally receive the signals to position with high precision.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 8, a block diagram of a signal transmitting apparatus according to an embodiment of the present invention is shown, which may specifically include the following modules:
an associated relay station determining module 801, configured to determine a relay station associated with the fixed base station; the relay stations are provided with at least two relay stations, the at least two relay stations adopt the same communication channel to transmit signals, and the signal coverage areas of the at least two relay stations have an overlapping area;
a signal transmission sequence determining module 802, configured to determine a signal transmission sequence of the at least two relay stations;
an alternating transmission module 803, configured to control the at least two relay stations to alternately transmit signals according to the signal transmission sequence.
In a preferred embodiment of the present invention, the signal includes differential correction data, and the alternating transmission module 803 includes:
a differential correction data acquisition submodule for acquiring differential correction data transmitted by the fixed base station;
a differential correction data transmission submodule, configured to transmit the differential correction data to the at least two relay stations;
a control differential correction data transmission submodule used for the at least two relay stations to alternately transmit the differential correction data according to the signal transmission sequence; wherein the differential correction data is used for positioning of the drone.
In a preferred embodiment of the present invention, the control differential correction data transmission sub-module includes:
a time synchronization unit, configured to perform time synchronization on the at least two relay stations;
and the time interval transmitting unit is used for controlling the at least two relay stations to alternately transmit the differential correction data according to the signal transmission sequence and a preset time interval.
Fig. 9 shows a structural block diagram of an unmanned aerial vehicle according to an embodiment of the present invention, which may specifically include the following modules:
a signal receiving module 901, configured to receive a signal transmitted by a relay station; if the number of the relay stations is at least two, the at least two relay stations adopt the same communication channel to transmit signals, and the signal coverage areas of the at least two relay stations have an overlapping area, the signals are signals alternately transmitted by the at least two relay stations;
an unmanned aerial vehicle positioning module 902 configured to position the unmanned aerial vehicle based on the signal.
In a preferred embodiment of the present invention, the signal includes differential correction data, and the drone positioning module 902 includes:
the first positioning information acquisition sub-module is used for acquiring first positioning information of the unmanned aerial vehicle;
and the second positioning information determining submodule is used for determining second positioning information of the unmanned aerial vehicle based on the first positioning information and the differential correction data.
In a preferred embodiment of the present invention, the method further comprises:
the flight path information determining module is used for determining flight path information aiming at the object to be operated;
and the operation module is used for operating the object to be operated according to the flight path information based on the second positioning information.
In a preferred embodiment of the present invention, the at least two relay stations have the same associated fixed base station, and the signal is a signal transmitted by the fixed base station.
The embodiment of the invention also discloses an aircraft, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor realizes the steps of the method shown in the figure 7 when executing the program.
The embodiment of the invention also discloses a computer readable storage medium, which is stored with a computer program, and is characterized in that the program is used for realizing the steps of the method in fig. 5 and/or fig. 7 when being executed by a processor.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The method and the device for signal transmission, the method and the system for positioning the unmanned aerial vehicle and the unmanned aerial vehicle provided by the invention are described in detail, specific examples are applied in the text to explain the principle and the implementation mode of the invention, and the description of the above examples is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (13)
1. A method of signal transmission, the method comprising:
determining a relay station associated with the fixed base station; the relay stations are provided with at least two relay stations, the at least two relay stations adopt the same communication channel to transmit signals, and the signal coverage areas of the at least two relay stations have an overlapping area;
determining a signal transmission sequence of the at least two relay stations;
controlling the at least two relay stations to alternately transmit signals to the same unmanned aerial vehicle according to the signal transmission sequence;
wherein the signal includes differential correction data, and the step of controlling the at least two relay stations to alternately transmit signals to the same unmanned aerial vehicle according to the signal transmission sequence includes:
acquiring differential correction data sent by the fixed base station;
transmitting the differential correction data to the at least two relay stations;
controlling the at least two relay stations to alternately transmit the differential correction data to the same unmanned aerial vehicle according to the signal transmission sequence; wherein the differential correction data is used for positioning of the drone.
2. The method of claim 1, wherein the step of controlling the at least two relay stations to alternately transmit the differential correction data in the signal transmission order comprises:
performing time synchronization on the at least two relay stations;
and controlling the at least two relay stations to alternately transmit the differential correction data according to the signal transmission sequence and a preset time interval.
3. A method of drone positioning, the method comprising:
receiving a signal transmitted by a relay station; if the number of the relay stations is at least two, the at least two relay stations adopt the same communication channel to transmit signals, and the signal coverage areas of the at least two relay stations have overlapping areas, the signals are signals alternately transmitted to the same unmanned aerial vehicle by the at least two relay stations;
based on the signal, locating the drone;
wherein the signal includes differential correction data, the step of locating the drone based on the signal includes:
acquiring first positioning information of the unmanned aerial vehicle;
determining second positioning information of the drone based on the first positioning information and the differential correction data.
4. The method of claim 3, further comprising:
determining track information aiming at an object to be operated;
and based on the second positioning information, operating the object to be operated according to the flight path information.
5. The method of claim 3, wherein the at least two relay stations have the same associated fixed base station, and wherein the signal is a signal transmitted by the fixed base station.
6. An apparatus for signal transmission, the apparatus comprising:
an associated relay station determining module, configured to determine a relay station associated with the fixed base station; the relay stations are provided with at least two relay stations, the at least two relay stations adopt the same communication channel to transmit signals, and the signal coverage areas of the at least two relay stations have an overlapping area;
a signal transmission sequence determining module, configured to determine a signal transmission sequence of the at least two relay stations;
the alternate transmitting module is used for controlling the at least two relay stations to alternately transmit signals to the same unmanned aerial vehicle according to the signal transmitting sequence;
wherein the signal includes differential correction data, the alternate transmission module includes:
a differential correction data acquisition submodule for acquiring differential correction data transmitted by the fixed base station;
a differential correction data transmission submodule, configured to transmit the differential correction data to the at least two relay stations;
the control differential correction data transmitting submodule is used for the at least two relay stations to alternately transmit the differential correction data to the same unmanned aerial vehicle according to the signal transmitting sequence; wherein the differential correction data is used for positioning of the drone.
7. The apparatus of claim 6, wherein the control differential correction data transmission submodule comprises:
a time synchronization unit, configured to perform time synchronization on the at least two relay stations;
and the time interval transmitting unit is used for controlling the at least two relay stations to alternately transmit the differential correction data according to the signal transmission sequence and a preset time interval.
8. A drone, characterized in that it comprises:
the signal receiving module is used for receiving the signal transmitted by the relay station; if the number of the relay stations is at least two, the at least two relay stations adopt the same communication channel to transmit signals, and the signal coverage areas of the at least two relay stations have overlapping areas, the signals are signals alternately transmitted to the same unmanned aerial vehicle by the at least two relay stations;
an unmanned aerial vehicle positioning module for positioning the unmanned aerial vehicle based on the signal;
wherein, the signal includes differential correction data, unmanned aerial vehicle positioning module includes:
the first positioning information acquisition sub-module is used for acquiring first positioning information of the unmanned aerial vehicle;
and the second positioning information determining submodule is used for determining second positioning information of the unmanned aerial vehicle based on the first positioning information and the differential correction data.
9. The drone of claim 8, further comprising:
the flight path information determining module is used for determining flight path information aiming at the object to be operated;
and the operation module is used for operating the object to be operated according to the flight path information based on the second positioning information.
10. The drone of claim 8, wherein the at least two relay stations have the same associated fixed base station, and wherein the signal is a signal transmitted by the fixed base station.
11. A system for positioning a unmanned aerial vehicle is characterized by comprising a fixed base station, a server, at least two relay stations associated with the fixed base station and the unmanned aerial vehicle, wherein the at least two relay stations adopt the same communication channel to transmit signals, the signal coverage areas of the at least two relay stations have an overlapping area,
the fixed base station is used for generating signals and sending the signals to the server;
the server is used for receiving the signals sent by the fixed base station and controlling the at least two relay stations to alternately transmit the received signals to the same unmanned aerial vehicle according to the signal transmission sequence after the signal transmission sequence of the at least two relay stations is determined;
the at least two relay stations are used for alternately transmitting the received signals according to the signal transmission sequence;
the unmanned aerial vehicle is used for receiving the signal that the relay station launched, and based on the signal is to the unmanned aerial vehicle advances line location.
12. An aircraft comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method according to any one of claims 3 to 5 are implemented when the processor executes the program.
13. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 2 and/or 3 to 5.
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| CN110580056A (en) * | 2019-09-23 | 2019-12-17 | 深圳大漠大智控技术有限公司 | Differential signal transmitting device and method for increasing stable flight of differential unmanned aerial vehicle cluster |
| TWI729531B (en) * | 2019-10-17 | 2021-06-01 | 國立中央大學 | Wireless communication relay system for unmanned vehicles |
| CN113078935B (en) * | 2020-01-03 | 2022-12-23 | 大唐移动通信设备有限公司 | Method for switching satellite base station, terminal, satellite base station and storage medium |
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