CN109341695A - Indoor Navigation of Pilotless Aircraft method based on floor plan calibration - Google Patents
Indoor Navigation of Pilotless Aircraft method based on floor plan calibration Download PDFInfo
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- CN109341695A CN109341695A CN201811363381.4A CN201811363381A CN109341695A CN 109341695 A CN109341695 A CN 109341695A CN 201811363381 A CN201811363381 A CN 201811363381A CN 109341695 A CN109341695 A CN 109341695A
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- floor plan
- pilotless aircraft
- indoor navigation
- navigation
- unmanned plane
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
Abstract
The invention discloses the indoor UAV Navigation Systems demarcated based on floor plan.After the initial position and the angle that determine unmanned plane head first, flight path is continuously demarcated into pixel in floor plan, the flight path vector of unmanned plane is calculated by demarcating pixel, the deviation angle during unmanned plane during flying is calculated by scale bar again with displacement, so that being applied to control unmanned plane precisely monitors the fields real-time navigations such as indoor construction, regular inspection cruise.The advantages that indoor Navigation of Pilotless Aircraft calculation amount provided by the invention based on floor plan calibration is low, and accuracy is high, and real-time is high, low in energy consumption, at low cost.
Description
Technical field
The invention discloses the indoor UAV Navigation Systems demarcated based on floor plan.
Background technique
In existing unmanned plane automatic navigation technology, if indoors in the not available situation of GPS signal, being based on more mesh
Vision system is computationally intensive, at high cost, and real-time is difficult to ensure, GPU or high performance CPU is needed to participate in calculating；And it is based on
The navigation of radar is difficult to reach the requirement of positive and negative 0.1m, while dust etc. during hard dress since the factors such as dust influence precision
Calculation amount caused by factor increases the scene for causing RTOS real-time system to be also unable to satisfy.
Summary of the invention
The invention discloses the indoor UAV Navigation Systems demarcated based on floor plan.It is low with calculation amount, accuracy
The advantages that height, real-time is high, low in energy consumption, at low cost.
Based on the indoor Navigation of Pilotless Aircraft method of floor plan calibration, include the following steps:
Step 1 successively demarcates the location point in the quasi- flight path of unmanned plane in floor plan, if each position
Setting the coordinate position a little in floor plan is respectively (xi, yi), i=0,1,2 ... ..., n；
Step 2 calculates the flight path vector between two neighboring location point；
Step 3 calculates the flight actual range between point at various locations according to the scale bar of floor plan.
In one embodiment, if the initial vector of unmanned plane is unit vector (1,0).
In one embodiment, if the initial position of unmanned plane head and the direction of door angle in 90 °.
In one embodiment, it in the step 2, is calculated by the vector multiplication cross of two adjacent position coordinates
To flight direction of rotation.
In one embodiment, direction of rotation is
In one embodiment, in step 3, pass through distance=| (xn-xn-1, yn-yn-1) | ratio is calculated
Flying distance between consecutive points.
In one embodiment, unmanned plane navigates in step 1 the initial bit needed using floor plan navigation by GSP
It sets.
In one embodiment, unmanned plane, which passes through, carries out avoidance by the infrared sensor of front and back 6 up and down.
In one embodiment, encountering infrared sensor reports high level to interrupt original flight directive, to phase negative side
To avoidance navigation is done, after re-scaling navigation spots, continue to navigate.
In one embodiment, unmanned plane is connect by wireless transport module with server, and data are uploaded to service
Data analysis, monitoring are carried out in device.
Beneficial effect
Indoors to required precision height, requirement of real-time is high, simultaneously because during hard dress more than the disturbing factors such as dust
Under scene, the above problem can effectively solve by the invention, be provided simultaneously with low-power consumption, inexpensive hardware deployment, RTOS system
It can be used to produce.
Detailed description of the invention
Fig. 1 is the flow chart of air navigation aid of the invention；
Fig. 2 is simplified coordinate system space；
Fig. 3 is complicated coordinate system space；
Fig. 4 is the trajectory line set in floor plan；
Fig. 5 is the schematic diagram that vector angle missing information is calculated by dot product；
Fig. 6 is hardware module schematic diagram.
Specific embodiment
Embodiment 1
Based on the indoor UAV Navigation System of floor plan calibration, this system utilizes floor plan by calibration pixel
Scale bar calculates the track that unmanned plane navigates by water indoors.Whole calculation method is as shown in Figure 1, realize that Navigation of Pilotless Aircraft is calculated
Method is as follows:
As shown in Fig. 2, firstly, Navigation of Pilotless Aircraft to indoor initial position is passed through indoor floor plan pair using GPS
The flight path of unmanned plane continues to navigate, and the initial position of unmanned plane head and the direction of door are at 90 degree of angles, due to nothing
Man-machine to enter scene behind the door, the direction where defining the plane of door is the direction of door, and unmanned plane is directly vertically into rear,
Direction locating for its head refers to the inceptive direction of unmanned plane, thus this inceptive direction be it is directly vertical with door, therefore, if
Initial vector is unit vector (1,0), and pixel position is (xi, yi), selects head vector for unit vector such as Fig. 2, can be with
It avoids in the coordinate system dimensioning process of Fig. 3, coordinate system converts bring complexity and extra computation amount.
Next, it needs to be determined that running track.In floor plan, setting the location point for needing successively to pass through is respectively:
(x2, y2)……(xn, yn), track as shown in figure 4, calculate the flight path vector of unmanned plane by demarcating pixel again, then
The deviation angle during unmanned plane during flying is calculated by scale bar with displacement.N pixel is demarcated, practical flight track is n-
1 time.Therefore, the flight vector on each point is then are as follows:
(x2-x1, y2-y1), (x3-x2, y3-y2), (xn-xn-1, yn-yn-1)
When the angle for calculating unmanned plane during flying using dot product, it is respectively as follows:
(1,0) (x2-x1, y2-y1),
(x2-x1, y2-y1)·(x3-x2, y3-y2) ...
(xn-1-xn-2, yn-1-yn-2)·(xn-xn-1, yn-yn-1)
Vectorial angle θ can only calculate deviation angle, such as Fig. 5, and head vector and the angle of object vector 1,2 are all θ, define
The direction of rotation of unmanned plane, it is also necessary to which calculating is clockwise, or rotation counterclockwise, by the multiplication cross of vector as supplement.
It is calculated according to right-hand ruleIt indicates clockwise, indicates counterclockwise less than 0.
The distance of practical flight are as follows:
Distance=| (xn-xn-1, yn-yn-1)|·ratio
Ratio indicates scale bar, equal to the resolution ratio actual range of floor plan.
As shown in Figure 6 using hardware layout based on above method: unmanned plane is in outdoor by GPS navigation to needing to supervise
The job location of control after entering the room, is navigated by the real-time navigation system in invention 1, and data acquisition passes through 4G module
Server end is reported to carry out data analysis, monitoring.Avoidance is carried out by the infrared sensor of front and back 6 up and down；To answer
Indoor construction, the fields such as regular inspection cruise are precisely monitored for controlling unmanned plane；Master controller stm32f407 is calculated in flight course
Distance and bivector angle, three-dimensional Eulerian angles flight directive is issued by URAT serial ports, encounters and offers a high price on infrared sensor
The original flight directive of level interrupt does avoidance navigation round about, after re-scaling navigation spots, continues to navigate.
Claims (10)
1. the indoor Navigation of Pilotless Aircraft method based on floor plan calibration, which comprises the steps of:
Step 1 successively demarcates the location point in the quasi- flight path of unmanned plane in floor plan, if each location point
Coordinate position in floor plan is respectively (xi, yi), i=0,1,2 ... ..., n；
Step 2 calculates the flight path vector between two neighboring location point；
Step 3 calculates the flight actual range between point at various locations according to the scale bar of floor plan.
2. the indoor Navigation of Pilotless Aircraft method according to claim 1 based on floor plan calibration, which is characterized in that set nobody
The initial vector of machine is unit vector (1,0).
3. the indoor Navigation of Pilotless Aircraft method according to claim 1 based on floor plan calibration, which is characterized in that set nobody
The initial position of machine head and the direction of door angle in 90 °.
4. the indoor Navigation of Pilotless Aircraft method according to claim 1 based on floor plan calibration, which is characterized in that described
In step 2, flight direction of rotation is calculated by the vector multiplication cross of two adjacent position coordinates.
5. the indoor Navigation of Pilotless Aircraft method according to claim 1 based on floor plan calibration, which is characterized in that rotation side
Xiang Wei
6. the indoor Navigation of Pilotless Aircraft method according to claim 1 based on floor plan calibration, which is characterized in that step 3
In, pass through distance=| (xn-xn-1, yn-yn-1) | ratio calculates the flying distance between consecutive points.
7. the indoor Navigation of Pilotless Aircraft method according to claim 1 based on floor plan calibration, which is characterized in that unmanned plane
The initial position that needs using floor plan navigation is navigated in step 1 by GSP.
8. the indoor Navigation of Pilotless Aircraft method according to claim 1 based on floor plan calibration, which is characterized in that unmanned plane
By carrying out avoidance by the infrared sensor of front and back 6 up and down.
9. the indoor Navigation of Pilotless Aircraft method according to claim 1 based on floor plan calibration, which is characterized in that encounter red
Outer sensor reports high level to interrupt original flight directive, does avoidance navigation round about, after re-scaling navigation spots, after
It is continuous to navigate.
10. the indoor Navigation of Pilotless Aircraft method according to claim 1 based on floor plan calibration, which is characterized in that nobody
Machine is connect by wireless transport module with server, and data are uploaded to progress data analysis in server, monitoring.
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| CN110542424A (en) * | 2019-09-03 | 2019-12-06 | 江苏艾佳家居用品有限公司 | Automatic navigation method and system for household space area |
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Address after: 211100 floor 5, block a, China Merchants high speed rail Plaza project, No. 9, Jiangnan Road, Jiangning District, Nanjing, Jiangsu (South Station area) Patentee after: JIANGSU AIJIA HOUSEHOLD PRODUCTS Co.,Ltd. Address before: 211100 No. 18 Zhilan Road, Science Park, Jiangning District, Nanjing City, Jiangsu Province Patentee before: JIANGSU AIJIA HOUSEHOLD PRODUCTS Co.,Ltd. |