CN109490929A - Fly control and navigation all-in-one machine - Google Patents
Fly control and navigation all-in-one machine Download PDFInfo
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- CN109490929A CN109490929A CN201811653652.XA CN201811653652A CN109490929A CN 109490929 A CN109490929 A CN 109490929A CN 201811653652 A CN201811653652 A CN 201811653652A CN 109490929 A CN109490929 A CN 109490929A
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- navigation
- gps
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Classifications
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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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
-
- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
The present invention provides one kind to fly control and navigation all-in-one machine, is related to space flight and aviation technical field, solves the larger technical problem of unmanned plane position error in the prior art.Navigation panel is connect with MEMS Inertial Measurement Unit, and MEMS Inertial Measurement Unit measures and acquires inertial navigation data and inertial navigation data is sent to navigation panel；RTK navigation system includes RTK base station and airborne RTK equipment, navigation panel receives the GPS/BD/GLONASS satellite carrier phase data that airborne RTK equipment is sent, airborne RTK equipment receives the GPS/BD/GLONASS satellite carrier phase data that RTK base station is sent, real time settlement goes out the high-precision location data of unmanned plane, realize that centimeter-level positioning precision, the present invention can reach to unmanned plane precise positioning and flight navigation control.
Description
Technical field
The present invention relates to space flight and aviation technical fields, fly control and navigation all-in-one machine more particularly, to one kind.
Background technique
Unmanned plane has many advantages, such as relatively low, easily operated without aerial driver, mobility strong, cost, leads in military affairs
Region investigation monitoring, target lock-on tracking and the communication relaying in domain etc., anti-terrorism investigation monitoring, security and traffic in police fields
Monitoring etc., possesses in the business such as petroleum pipeline line walking, power-line patrolling, agricultural plant protection and fishery in civil field and is widely applied
Market and good application prospect, so that the development of unmanned plane is very swift and violent.
In the prior art, the flight control system of unmanned plane is mostly by ground remote controller, Airborne Control Unit and airborne
This three parts of driving device composition.Terrestrial operation hand needs the state of flight of observation unmanned plane in real time, and according to state of flight pair
Remote control device is controlled, and remote control device interacts the control information received with Airborne Control Unit, airborne control dress
It sets to command information progress analytical calculation is received, then according to treated, command information carries out the airborne drive system
Control, finally, realizing the control to unmanned plane by airborne drive system.
At least there is following technical problem in former utility model patent (Patent No. CN201520362798.4):
Fly the GPS/BD/GLONASS receiver contained in control and navigation all-in-one machine, it is larger to the position error of unmanned plane,
The flight to unmanned plane is influenced to control.
The application improves above-mentioned technical problem.
Summary of the invention
The one kind that is designed to provide of the embodiment of the present invention flies control and navigation all-in-one machine, existing in the prior art to solve
Winged control containing GPS/BD/GLONASS receiver and the larger technical problem of navigation all-in-one machine position error.
To achieve the above object, the present invention provides following technical schemes:
A kind of winged control provided by the invention and navigation all-in-one machine, including navigation panel, MEMS Inertial Measurement Unit, GPS/BD/
GLONASS receiver and RTK navigation system, in which: the navigation panel is connect with the MEMS Inertial Measurement Unit, described
MEMS Inertial Measurement Unit measures and acquires inertial navigation data and the inertial navigation data is sent to the navigation panel；
The navigation panel is connect with the GPS/BD/GLONASS receiver, and the RTK navigation system includes RTK base station
With airborne RTK equipment, the navigation panel receives the location data that the airborne RTK equipment is sent, the airborne RTK equipment setting
On the GPS/BD/GLONASS receiver, the RTK base station receives GPS/BD/GLONASS satellite-signal, to described
GPS/BD/GLONASS satellite-signal is resolved, and obtains GPS/BD/GLONASS carrier phase data, and pass through distant control chain circuit
The GPS/BD/GLONASS satellite data is sent to the airborne RTK equipment；
The airborne RTK equipment receives the GPS/BD/GLONASS satellite carrier phase data that the RTK base station is sent,
And GPS/BD/GLONASS satellite carrier phase data is sent to the navigation panel and carries out resolving processing, obtain the position of unmanned plane
It sets and speed data, realizes centimeter-level positioning precision.
It preferably, further include barometric pressure sensor, the barometric pressure sensor is connect with the navigation panel, described big
Air pressure force snesor receives complete, static pressure, and is converted into electric signal, and the electric signal is sent to the navigation panel.
Preferably, the navigation panel resolves the electric signal, and the electric signal is changed into true air speed, indicator air speed and big
Gas height.
It preferably, further include mainboard, the mainboard is connect with the navigation panel, and the mainboard receives the number of the navigation panel
According to, and combine with atmospheric parameter and steering engine to be calculated by control law go out rudder amount.
It preferably, further include electric interfaces, the electric interfaces are connect with the navigation panel.
Preferably, the electric interfaces include discrete interface, digital interface, analog interface and communication interface.
Preferably, the MEMS Inertial Measurement Unit measures and acquires inertial navigation data, the inertial navigation data packet
Include angular rate data, acceleration information and geomagnetic data.
Preferably, CPU is set inside the navigation panel, the CPU is to the inertial navigation data and the GPS/BD/
GLONASS satellite data are combined navigation calculation.
Preferably, further include shell and motherboard, the mainboard, the navigation panel, the MEMS Inertial Measurement Unit and
The GPS/BD/GLONASS receiver is mounted on the inside of the shell, and the GPS/BD/GLONASS receiver is installed on
The navigation panel side, the GPS/BD/GLONASS receiver are installed on the other side of the navigation panel, the mainboard and institute
State navigation panel electrical connection.
Preferably, the outer surface of the shell is also equipped with round electric connector, one end of the round electric connector with
The motherboard electrical connection, the other end are electrically connected with external equipment.
A kind of winged control provided in an embodiment of the present invention and navigation all-in-one machine compared with the existing technology have following technology effect
Fruit:
This kind flies control and navigation all-in-one machine, including navigation panel, MEMS Inertial Measurement Unit, GPS/BD/GLONASS receiver
And RTK navigation system, and RTK navigation system includes RTK base station and airborne RTK equipment, RTK base station receives GPS/
BD/GLONASS satellite-signal resolves GPS/BD/GLONASS satellite-signal, obtains GPS/BD/GLONASS satellite number
According to, and GPS/BD/GLONASS satellite data is sent to airborne RTK equipment；Airborne RTK equipment is according to GPS/BD/GLONASS
Satellite data and GPS/BD/GLONASS satellite carrier phase data carry out resolving processing, obtain the position and speed number of unmanned plane
According to achieve the purpose that unmanned plane precise positioning.
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 of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the winged control of an embodiment of the present invention and the circuit flow chart of navigation all-in-one machine；
Fig. 2 is the winged control and the top view of navigation all-in-one machine of an embodiment of the present invention.
In figure:
101, navigation panel；102, MEMS Inertial Measurement Unit；103, GPS/BD/GLONASS receiver；104, mainboard；
105, barometric pressure sensor.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, technical solution of the present invention will be carried out below
Detailed description.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art are obtained all without making creative work
Other embodiment belongs to the range that the present invention is protected.
In the description of the present invention, it is to be understood that, term " center ", " length ", " width ", " height ", "upper",
The orientation of instructions such as "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " side " or
Positional relationship is to be merely for convenience of description of the present invention and simplification of the description based on attached orientation or positional relationship shown in FIG. 1, without
It is that the equipment of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not
It can be interpreted as limitation of the present invention.In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or two
More than.
As shown in Figure 1, Fig. 1 is the winged control of an embodiment of the present invention and the circuit flow chart of navigation all-in-one machine, wherein Fig. 1
Shown in main control chip include mainboard 104 and navigation panel 101, belong to flight control modules, navigation panel 101 and mainboard
104 electrical connections, and received signal can be passed to mainboard 104 by navigation panel 101, mainboard 104 is passing the signal along to rudder time
Road, to realize the state of flight of control unmanned plane, i.e. aileron/direction/lifting steering engine, the structure of specific unmanned plane is referring to title
For " flying control and navigation all-in-one machine ", application No. is the utility model patents of " CN201520362798.4 ".
And the present invention is mainly to improve to winged control and the navigation of navigation all-in-one machine with control system, this kind flies control and leads
Boat all-in-one machine includes navigation panel 101, MEMS Inertial Measurement Unit 102, GPS/BD/GLONASS receiver 103 and RTK navigation
System, navigation panel 101 are connect with MEMS Inertial Measurement Unit 102, and MEMS Inertial Measurement Unit 102 measures and acquires inertial navigation
Data and inertial navigation data is sent to navigation panel 101；
Navigation panel 101 is connect with GPS/BD/GLONASS receiver 103, and RTK navigation system includes RTK base station and airborne
RTK equipment, navigation panel 101 receive the location data that airborne RTK equipment is sent, and airborne RTK equipment is arranged in GPS/BD/
On GLONASS receiver 103, RTK base station receives GPS/BD/GLONASS satellite-signal, believes GPS/BD/GLONASS satellite
It number is resolved, obtains GPS/BD/GLONASS carrier phase data, and by distant control chain circuit by GPS/BD/GLONASS carrier wave
Phase data is sent to by distant control chain circuit and records RTK equipment；
Airborne RTK equipment receives the GPS/BD/GLONASS satellite carrier phase data that RTK base station is sent, and by GPS/
BD/GLONASS satellite carrier phase data is sent to navigation panel 101 and carries out resolving processing, obtains the position and speed of unmanned plane
Data realize centimeter-level positioning precision.
This kind flies control and navigation all-in-one machine, further comprises power panel: for being converted to 28V direct current required for system
Stable each DC voltage；Mainboard: it is settled accounts for data；Rudder loop plate: the control for steering engine；And motherboard: for each
Connection between plate and to outer lead.
Using airborne RTK equipment to GPS/BD/GLONASS satellite data and GPS/BD/GLONASS satellite carrier number of phases
According to resolving processing is carried out, the position and speed data of unmanned plane are obtained, to achieve the purpose that unmanned plane precise positioning.In nothing
On the basis of man-machine structure, the present invention carries out traditional inertial navigation system, air data computer, flight-control computer
Integrated design has many advantages, such as that positioning accuracy is high, integrated level is high, small in size, light-weight and at low cost.
Wherein real-time dynamic carrier phase difference (RTK, real time kinematic) location technology, is built upon reality
When two survey stations of processing carrier phase on the basis of, the carrier phase that base station acquires is sent to subscriber board and carries out seeking poor solution
Coordinate is calculated, it can provide the three-dimensional coordinate of observation point in real time, and reach the high-precision of Centimeter Level.
It further include barometric pressure sensor 105, barometric pressure sensor 105 as a kind of preferred embodiment of the present embodiment
It is connect with navigation panel 101, barometric pressure sensor 105 receives complete, static pressure, and is converted into electric signal, and electric signal passes through
After conditioning, it is sent to navigation panel 101.
As a kind of preferred embodiment of the present embodiment, navigation panel 101 resolves electric signal, and electric signal is changed into true air speed, refers to
Show air speed and atmosphere height.
It further include mainboard 104 as a kind of preferred embodiment of the present embodiment, mainboard 104 is connect with navigation panel 101, mainboard
104 receive the data of navigation panels 101, and combine with atmospheric parameter and to calculate steering engine by control law and go out rudder amount.
It further include electric interfaces as a kind of preferred embodiment of the present embodiment, electric interfaces are connect with navigation panel 101.
As a kind of preferred embodiment of the present embodiment, electric interfaces include discrete interface, digital interface, analog interface and
Communication interface.
As a kind of preferred embodiment of the present embodiment, MEMS Inertial Measurement Unit 102 measures and acquires inertial navigation data,
Inertial navigation data includes angular rate data, acceleration information and geomagnetic data.
As a kind of preferred embodiment of the present embodiment, CPU is set inside navigation panel 101, CPU to inertial navigation data and
GPS/BD/GLONASS satellite data is combined navigation calculation.
In addition, it further includes heating sheet that this kind, which flies control with navigation all-in-one machine, heats, add with navigation all-in-one machine equipment for flying control
Thermal starting and stopping temperature being arranged by program, it is therefore intended that prevent that ambient temperature is caused to make lower than component using height height
Lead to certain functional faults or failure with temperature.
This kind flies control and navigation all-in-one machine, further includes shell and motherboard, mainboard 104, navigation panel 101, MEMS inertia measurement
Unit 102 and GPS/BD/GLONASS receiver 103 are mounted on the inside of shell, GPS/BD/GLONASS receiver 103
Be installed on 101 side of navigation panel, GPS/BD/GLONASS receiver 103 is installed on the other side of navigation panel 101, mainboard 104 with
Navigation panel 101 is electrically connected.
As a kind of preferred embodiment of the present embodiment, the outer surface of shell is also equipped with round electric connector, and circle is electrically connected
The one end for connecing device is electrically connected with motherboard, and the other end is electrically connected with external equipment.
Working principle: MEMS Inertial Measurement Unit 102 measures and acquires the original inertial navigation data of carrier, including angle speed
Rate data, acceleration information and geomagnetic data, and inertial navigation data is passed into navigation panel 101；
RTK base station receives GPS/BD/GLONASS satellite-signal, resolves to GPS/BD/GLONASS satellite-signal,
It obtains GPS/BD/GLONASS satellite data, and GPS/BD/GLONASS satellite data is sent to airborne RTK equipment；It is airborne
RTK equipment carries out at resolving according to GPS/BD/GLONASS satellite data and GPS/BD/GLONASS satellite carrier phase data
Reason, obtains the position and speed data of unmanned plane, and the position and speed data of unmanned plane are sent to navigation panel 101；
Barometric pressure sensor 105 receives the dynamic and static pressure transmitted from pitot, and is converted into electric signal, will be electric
Signal passes to navigation panel 101；
Navigation panel 101 meets the inertial navigation data of the MEMS Inertial Measurement Unit 102 received, GPS/BD/GLONASS
The position and speed data of receipts machine 103 are combined navigation calculation and then obtain integrated navigation data；Meanwhile navigation panel 101 is right
The electric signal of the barometric pressure sensor 105 received is resolved, and then obtain true air speed, indicator air speed, atmosphere height etc.
Atmospheric parameter；Integrated navigation data and atmospheric parameter are passed to mainboard 104 by navigation panel 101；
Mainboard 104 calculates steering engine by control law and goes out rudder amount using the integrated navigation data and atmospheric parameter received,
To carry out flight control, and then the automatic flight of realization unmanned plane overall process.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. one kind fly control and navigation all-in-one machine, which is characterized in that including navigation panel (101), MEMS Inertial Measurement Unit (102),
GPS/BD/GLONASS receiver (103) and RTK navigation system, in which:
The navigation panel (101) connect with the MEMS Inertial Measurement Unit (102), the MEMS Inertial Measurement Unit (102)
It measures and acquires inertial navigation data and the inertial navigation data is sent to the navigation panel (101)；
The navigation panel (101) connect with the GPS/BD/GLONASS receiver (103), and the RTK navigation system includes RTK
Base station and airborne RTK equipment, the navigation panel (101) receives the location data that the airborne RTK equipment is sent, described airborne
RTK equipment is arranged on the GPS/BD/GLONASS receiver (103), and the RTK base station receives GPS/BD/GLONASS
Satellite-signal resolves the GPS/BD/GLONASS satellite-signal, obtains GPS/BD/GLONASS carrier phase data,
And the GPS/BD/GLONASS satellite data is sent to by the airborne RTK equipment by distant control chain circuit；
The airborne RTK equipment receives the GPS/BD/GLONASS satellite carrier phase data that the RTK base station is sent, and will
GPS/BD/GLONASS satellite carrier phase data is sent to the navigation panel (101) and carries out resolving processing, obtains unmanned plane
Position and speed data realize centimeter-level positioning precision.
2. a kind of winged control according to claim 1 and navigation all-in-one machine, which is characterized in that further include barometric pressure sensor
(105), the barometric pressure sensor (105) connect with the navigation panel (101), and the barometric pressure sensor (105) connects
It receives, static pressure, and is converted into electric signal, the electric signal is sent to the navigation panel (101).
3. a kind of winged control according to claim 2 and navigation all-in-one machine, which is characterized in that the navigation panel (101) resolves
The electric signal, the electric signal are changed into true air speed, indicator air speed and atmosphere height.
4. a kind of winged control according to claim 1 and navigation all-in-one machine, which is characterized in that it further include mainboard (104), it is described
Mainboard (104) is connect with the navigation panel (101), and the mainboard (104) receives the data of the navigation panel (101), and with it is big
Gas parameter combination calculates steering engine by control law and goes out rudder amount.
5. a kind of winged control according to claim 4 and navigation all-in-one machine, which is characterized in that it further include electric interfaces, it is described
Electric interfaces are connect with the navigation panel (101).
6. a kind of winged control according to claim 5 and navigation all-in-one machine, which is characterized in that the electric interfaces include discrete
Interface, digital interface, analog interface and communication interface.
7. a kind of winged control according to claim 6 and navigation all-in-one machine, which is characterized in that the MEMS Inertial Measurement Unit
(102) it measures and acquires inertial navigation data, the inertial navigation data includes angular rate data, acceleration information and ground magnetic number
According to.
8. a kind of winged control according to claim 7 and navigation all-in-one machine, which is characterized in that the navigation panel (101) is internal
CPU is set, and the CPU is combined navigational solution to the inertial navigation data and the GPS/BD/GLONASS satellite data
It calculates.
9. according to one kind described in any claim of claim 4~8 fly control and navigation all-in-one machine, further include shell and
Motherboard, the mainboard (104), the navigation panel (101), the MEMS Inertial Measurement Unit (102) and the GPS/BD/
GLONASS receiver (103) is mounted on the inside of the shell, and the GPS/BD/GLONASS receiver (103) is installed on
Navigation panel (101) side, the GPS/BD/GLONASS receiver (103) are installed on the another of the navigation panel (101)
Side, the mainboard (104) are electrically connected with the navigation panel (101).
10. a kind of winged control according to claim 9 and navigation all-in-one machine, which is characterized in that the outer surface of the shell is also
Round electric connector is installed, one end of the round electric connector is electrically connected with the motherboard (104), and the other end is set with outside
Standby electrical connection.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811653652.XA CN109490929A (en) | 2018-12-29 | 2018-12-29 | Fly control and navigation all-in-one machine |
| PCT/CN2019/089254 WO2020133909A1 (en) | 2018-12-29 | 2019-05-30 | Flight control and navigation integrated machine |
| EP19905137.6A EP3754302A4 (en) | 2018-12-29 | 2019-05-30 | Flight control and navigation integrated machine |
| ZA2020/06491A ZA202006491B (en) | 2018-12-29 | 2020-10-19 | Flight control and navigation integrated machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811653652.XA CN109490929A (en) | 2018-12-29 | 2018-12-29 | Fly control and navigation all-in-one machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109490929A true CN109490929A (en) | 2019-03-19 |
Family
ID=65713641
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811653652.XA Pending CN109490929A (en) | 2018-12-29 | 2018-12-29 | Fly control and navigation all-in-one machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109490929A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020133909A1 (en) * | 2018-12-29 | 2020-07-02 | 北京金朋达航空科技有限公司 | Flight control and navigation integrated machine |
| CN112506098A (en) * | 2020-11-27 | 2021-03-16 | 中电科技集团重庆声光电有限公司 | LTCC-based monolithic unmanned aerial vehicle integrated navigation flight control micro system |
| CN116124134A (en) * | 2023-04-20 | 2023-05-16 | 北京创博联航科技有限公司 | Multisource data fusion positioning navigation system |
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| CN104931978A (en) * | 2014-03-18 | 2015-09-23 | 广东冠能电力科技发展有限公司 | Power line patrol unmanned aerial vehicle navigation system based on GPS RTK technology |
| CN204832499U (en) * | 2015-05-29 | 2015-12-02 | 北京金朋达航空科技有限公司 | Accuse and navigation all -in -one fly |
| CN108535750A (en) * | 2018-03-26 | 2018-09-14 | 广州中海达卫星导航技术股份有限公司 | Unmanned plane navigation method for orienting, GNSS receiver device, GNSS receiver system |
| CN209387883U (en) * | 2018-12-29 | 2019-09-13 | 北京金朋达航空科技有限公司 | Fly control and navigation all-in-one machine |
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| CN104931978A (en) * | 2014-03-18 | 2015-09-23 | 广东冠能电力科技发展有限公司 | Power line patrol unmanned aerial vehicle navigation system based on GPS RTK technology |
| CN204832499U (en) * | 2015-05-29 | 2015-12-02 | 北京金朋达航空科技有限公司 | Accuse and navigation all -in -one fly |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020133909A1 (en) * | 2018-12-29 | 2020-07-02 | 北京金朋达航空科技有限公司 | Flight control and navigation integrated machine |
| CN112506098A (en) * | 2020-11-27 | 2021-03-16 | 中电科技集团重庆声光电有限公司 | LTCC-based monolithic unmanned aerial vehicle integrated navigation flight control micro system |
| CN116124134A (en) * | 2023-04-20 | 2023-05-16 | 北京创博联航科技有限公司 | Multisource data fusion positioning navigation system |
| CN116124134B (en) * | 2023-04-20 | 2023-08-04 | 北京创博联航科技有限公司 | Multisource data fusion positioning navigation system |
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