CN109579841B - High-precision positioning method for vehicle-mounted fire-fighting high-load rotor unmanned aerial vehicle under GPS (Global positioning System) rejection condition - Google Patents
High-precision positioning method for vehicle-mounted fire-fighting high-load rotor unmanned aerial vehicle under GPS (Global positioning System) rejection condition Download PDFInfo
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Abstract
The invention discloses a high-precision positioning method of a vehicle-mounted fire-fighting high-load rotor unmanned aerial vehicle under a GPS (global positioning system) rejection condition, which comprises the following steps of: firstly, initializing and deploying a fire-fighting rotor unmanned aerial vehicle; the ground motor fire truck is used as a base station, four pull rope type displacement sensors are deployed on a roof platform of the ground motor fire truck, each sensor is installed on a rotary table with a pull rope measuring direction, an azimuth angle and a height angle corresponding to the pull rope direction are respectively measured by two shaft angle encoders on the rotary table, and then telescopic rope ends of the four displacement sensors are mounted at a fixed connection position at the bottom of the unmanned aerial vehicle; secondly, data acquisition of a displacement sensor and an angle measuring sensor; and thirdly, resolving the space position coordinate of the fire-fighting rotor unmanned aerial vehicle. The method realizes accurate and reliable calculation of the spatial position of the fire-fighting rotor unmanned aerial vehicle, provides a prerequisite for autonomous or semi-autonomous flight of the fire-fighting rotor unmanned aerial vehicle during fire-fighting operation of high-rise and super high-rise buildings, and improves the safety of firemen during operation.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to a high-precision positioning method for a vehicle-mounted fire-fighting high-load rotor unmanned aerial vehicle under a GPS rejection condition.
Background
The urban fire-fighting problem is a great problem troubling the urban economic development, and once the rescue is not timely, huge property and casualty loss can be caused. According to incomplete statistics, the number of high buildings with more than 100 meters in China is tens of thousands, and the growth speed and the number of Chinese skyscrapers will appear in the world in the next 10 years. The rise of the super high-rise building brings huge pressure to urban fire fighting. At present, aerial ladders are usually built for high-rise fire fighting, high-pressure water guns are used for spraying fire fighting, the domestic highest fire-fighting aerial ladder is only 101 meters at present, the manufacturing cost is extremely expensive, the size is large and heavy, the aerial ladders cannot be popularized in large scale in urban fire fighting with busy traffic and narrow roads, and the miniaturized fire fighting truck cannot achieve the height for fire fighting of high-rise buildings. In recent years, the technology of the rotor unmanned aerial vehicle at home and abroad is rapidly developed and gradually advances to the application field of military and civilian, and various enterprises and scientific research institutions begin to research and develop unmanned aerial vehicle models for fire fighting. However, the problem of positioning of the rotor unmanned aerial vehicle under the condition of unreliable GPS or no signal and the like between urban buildings is one of the main bottlenecks hindering the application of the rotor unmanned aerial vehicle in the field of fire fighting.
At present, outdoor fire-fighting unmanned aerial vehicles are positioned by satellites (such as GPS), and due to the inherent defects of GPS positioning, when the fire-fighting unmanned aerial vehicles are positioned between urban high-rise buildings, GPS signals are easily blocked, so that the situation of unreliable signals, weak signals or no signals is caused. Therefore, the fire control location problem between the building can not effectively be fulfilled to present traditional fire control unmanned aerial vehicle based on GPS location.
Disclosure of Invention
The invention aims to provide a high-precision positioning method for an on-vehicle fire-fighting high-load rotor unmanned aerial vehicle under a GPS rejection condition, and solves the positioning problem between urban building buildings under the rejection conditions of unreliable GPS or no signal and the like.
The technical solution for realizing the purpose of the invention is as follows: a high-precision positioning method for an onboard fire-fighting high-load rotor unmanned aerial vehicle under a GPS rejection condition comprises the following steps:
the first step, initializing deployment of a fire-fighting rotor unmanned aerial vehicle; the ground motor fire truck is used as a base station, four pull rope type displacement sensors are deployed on a roof platform of the ground motor fire truck, each sensor is installed on a rotary table with a pull rope measuring direction, an azimuth angle and a height angle corresponding to the pull rope direction are measured by two shaft angle encoders on the rotary table respectively, and then telescopic rope ends of the four displacement sensors are mounted to the bottom of the unmanned aerial vehicle;
secondly, data acquisition of a displacement sensor and an angle measuring sensor;
and thirdly, resolving the space position coordinate of the fire-fighting rotor unmanned aerial vehicle.
Compared with the prior art, the invention has the following remarkable advantages: (1) Under the conditions that GPS signals between urban buildings are unreliable, weak or rejected, the method realizes accurate and reliable calculation of the spatial position of the fire-fighting rotor unmanned aerial vehicle, thereby providing a prerequisite condition for autonomous or semi-autonomous flight of the fire-fighting rotor unmanned aerial vehicle during fire-fighting operation of high-rise and super high-rise buildings, relieving the working pressure and burden of fire fighters and improving the safety of the fire fighters during operation; (2) The fire-fighting rotor unmanned aerial vehicle takes a ground miniaturized fire truck as a platform, so that the maneuvering capacity of fire-fighting traffic among cities and the reaction processing speed of the fire-fighting traffic in response to emergent fire-fighting events are obviously improved; because fire control rotor unmanned aerial vehicle only carries on original fire engine, does not conflict with traditional fire control function before, can effectively realize the function complementation.
The present invention is described in further detail below with reference to the attached drawing figures.
Drawings
Figure 1 is a fire control rotor unmanned aerial vehicle operation schematic diagram.
Fig. 2 is a schematic deployment diagram of four pull-cord type displacement sensors.
Fig. 3 is a schematic view of the turret azimuth and elevation definition.
Fig. 4 is a flow chart for solving the spatial position of the fire-fighting rotor unmanned aerial vehicle.
FIG. 5 is a GDOP graph showing the position calculation accuracy of a fire-fighting rotary-wing unmanned aerial vehicle under typical working conditions.
Detailed Description
The invention provides a high-precision positioning method of a high-load rotor unmanned aerial vehicle based on a ground small-sized motor fire truck serving as a base station, which can solve the positioning problem of unreliable GPS (global positioning system) between urban buildings or under the condition of no signal or other rejection, and the positioning precision of the high-precision positioning method is obviously superior to that of a single-point GPS.
A high-precision positioning method for an onboard fire-fighting high-load rotor unmanned aerial vehicle under a GPS rejection condition comprises the following steps:
the first step is as follows: fire control rotor unmanned aerial vehicle initialization deployment.
The ground small-sized motor fire truck is used as a base station, four pull rope type displacement sensors are deployed on a roof platform of the base station, each sensor is installed on a small-sized rotary table with a pull rope measuring direction, an azimuth angle and a height angle corresponding to the pull rope direction are accurately measured by two shaft angle encoders on the rotary table respectively, and then telescopic rope ends of the four displacement sensors are hung to a fixed connection position at the bottom of the unmanned aerial vehicle;
a ground small-sized motor fire truck is adopted to carry out direct-current boosting wired power supply for the rotor unmanned aerial vehicle, a power supply mooring cable of the unmanned aerial vehicle and a fire-fighting water pipe assembly (matched with a retraction device) are connected, and fire-fighting bombs are mounted on a base platform of the rotor unmanned aerial vehicle;
data lines and electronics of four pull rope type displacement sensors and shaft angle encodersAnd the computer data acquisition port is connected. Defining and initializing a space coordinate system Axyz of the rotor unmanned aerial vehicle, and identifying and initializing the positions of four stay rope type displacement sensors: a (0, 0), B (B) 0 ，0，0)，C(0，c 0 ，0)，D（b 0 ，c 0 ，0)。
The second step is that: and data acquisition of the displacement sensor and the angle measuring sensor.
Defining the output data of four pull rope type displacement sensors as
The angle measurement data output of the rotary table shaft angle encoder corresponding to the pull rope direction is respectively as follows: azimuth angle
High low angle
Where k represents the sensor data sampling time sequence number.
Acquiring output data of four stay rope type displacement sensors and the shaft angle encoder corresponding to each rotary table at the moment k, and respectively recording the output data as
The third step: the spatial position coordinates of the fire-fighting rotor unmanned aerial vehicle are resolved.
1) k =0: and resolving the initial position of the unmanned aerial vehicle. Deployment position coordinates A (0, 0), B (B) based on four pull rope type displacement sensors 0 ，0，0)，C(0，c 0 ，0)，D(b 0 ，c 0 0) and measured data
Calculating the initial space position coordinate T (x) of the fire-fighting rotor unmanned aerial vehicle by adopting maximum likelihood estimation and a Newton-Raphson method 0 ，y 0 ，z 0 )。
2) k: = k +1: based on sensor coordinates A (0, 0), B (B) 0 ，0，0)，C(0，c 0 ，0)，D(b 0 ，c 0 0) and measured data
Calculating space position coordinates T (x) of fire-fighting rotor unmanned aerial vehicle by adopting maximum likelihood estimation and Newton-Raphson method k ，y k ，z k )。
3) After the task of the fire-fighting rotor unmanned aerial vehicle is finished and the fire-fighting rotor unmanned aerial vehicle returns to land on the top platform of the ground small motor fire-fighting vehicle, stopping the position coordinate calculation and quitting; otherwise, returning to the step 2).
The technical solution of the present invention is explained in detail below.
The first step "fire control rotor unmanned aerial vehicle initialisation deploys" can accomplish in advance during fire control on duty, maintains the actual combat and stands by the state: namely, four stay cord type displacement sensors are deployed and installed on a turntable at the top of a small-sized motorized fire fighting vehicle body in advance, related data cables are connected to a computer interface of a fire fighting unmanned aerial vehicle console, and specific installation position parameters of the displacement sensors are measured and recorded into the computer of the fire fighting unmanned aerial vehicle console in advance. In addition, the telescopic rope ends of the four sensors are mounted at the bottom of the unmanned aerial vehicle and fixedly connected, and the power supply mooring cable and the fire-fighting water pipe assembly of the unmanned aerial vehicle are connected to a base platform of the fire-fighting unmanned aerial vehicle.
The fire-fighting rotor unmanned aerial vehicle adopts a ground fire-fighting vehicle with a power supply (a generator) for wired power supply, so that the unmanned aerial vehicle is ensured to have long-flight time lag air operation capacity and large load capacity. Fire control rotor unmanned aerial vehicle base platform can add simultaneously and hang fire extinguishing bomb and traditional fire water monitor of putting out a fire. Unmanned aerial vehicle flight control and operation instruction control parameter are controlled by fire control unmanned aerial vehicle control cabinet through wireless link, can realize unmanned aerial vehicle owner and semi-autonomous flight and key fire control of putting out a fire to possess the automatic function of taking off and land of a key. The operation of which is schematically shown in figure 1.
The fire-fighting rotary wing unmanned aerial vehicle spatial coordinate system Axyz is defined as follows: the coordinate origin is taken from the installation position of the stay rope type displacement sensor A, and the x axis passes through the stay rope type displacement sensorB points to the direction of the vehicle head; the y axis is perpendicular to the x axis through the stay cord type displacement sensor A, and the z axis points to the zenith and is a standard right-hand coordinate system. The deployment diagram of the four pull rope type displacement sensors is shown in figure 2. The azimuth angle of the installation turntable of the pull rope type displacement sensor is positioned as follows: taking the positive direction of the parallel x axis as an initial zero position, and taking the anticlockwise rotation as positive; the elevation angle is defined as: with the xAy plane as the initial zero position and positive upward, the detailed definition is shown in FIG. 3,
is p k Projection points on the xAy plane.
The principle of resolving the space position coordinates of the fire-fighting rotor unmanned aerial vehicle is as follows:
for simplicity of expression, the deployment position coordinates of the four pull-cord sensors are defined in vector form:
s 1 ＝[0，0，0] T ，s 2 ＝[b 0 ，0，0] T ，s 3 ＝[0，c 0 ，0] T ，s 4 ＝[b 0 ，c 0 ，0] T (1)
according to equation (1), the deployment position coordinate vector general formula of the ith stay rope type sensor is as follows: s i ＝[x i ，y i ，z i ] T (ii) a Correspondingly, displacement measurement of four pull-cord sensors
The picture is characterized in that:
i =1,2,3,4; corresponding azimuth angle measurement
The carving is as follows:
i =1,2,3,4; altitude angle measurement
The carving is as follows:
i＝1，2，3，4。
defining the space position vector of the unmanned plane as
p k ＝[x k ，y k ，z k ] T (2)
Assuming that the measurement errors of the sensors are independent of each other and follow a normal distribution, the following sensor measurement equation can be established
η i ＝h i (p k )+w i ，i＝1，2，3，4 (3)
Wherein w i For sensor measurement error, satisfy
The displacement measurement precision of the ith stay rope type displacement sensor and the azimuth angle and elevation angle measurement precision of the ith rotary table are respectively measured;
is the ith set of sensor measurements. Accordingly, the function vector h is observed i (p k )＝[l i (p k )，β i (p k )，ζ i (p k )] T The expressions for the components are as follows:
defining sets of measurement values
The maximum likelihood estimation of the spatial unmanned aerial vehicle coordinates is
Where lnp (z | p) k ) For the log-likelihood function, the expression is
In the formula (8) < gamma > 0 ＝ln((2π) 3/2 |R i | 1/2 ) Is a constant. And (4) solving the formula (7) by adopting a Newton-Laverson method to obtain the space position coordinate of the unmanned aerial vehicle. The method comprises the following specific steps:
1) Let the coordinate x = p of the unmanned aerial vehicle to be solved k Equivalently converting the formula (7) into
Wherein
2) Define j as an iteration variable. Initializing coordinate estimation values at j =0
3) The iterative solution is performed as follows:
wherein F j As the Hessian matrix:
4) Judging whether the maximum iteration times are reached or the maximum iteration times are converged to a preset error range, stopping iteration and exiting;
otherwise, turning to the step 3).
The flow chart is shown in figure 4 for a solution of the spatial position of the fire-fighting rotor unmanned aerial vehicle.
Now, theoretical analysis is carried out on the positioning precision of the technical scheme. The Fischer Information Matrix (FIM) defining the positioning scheme is J, having
Graduating the log-likelihood function of equation (13) having
Substituting formula (14) into formula (13) to obtain
Wherein
The expressions for the components are as follows:
u i ＝(p k -s i )/||p k -s i ||＝[cosβ i cosζ i ，sinβ i cosζ i ，sinζ i ] T (16)
the corresponding geometric dilution of precision (GDOP) is defined as
Where tr {. Cndot } represents the trace of the matrix in bracket.
The technical scheme is subjected to positioning accuracy analysis by combining the embodiment.
Examples
In this embodiment, the length unit is defaulted to meter, unless otherwise specified.
Assuming that four pull rope type displacement sensors are installed on a roof platform of a small fire engine, the deployment parameters of the corresponding positions are as follows: b 0 ＝3.5m，c 0 =1.5m; the measurement precision of the four pull rope type displacement sensors is as follows: 0.05% by weight of FS; the azimuth angle and the height measurement precision of the rotary table are as follows:
the secret bit is set in the secret code,
unmanned aerial vehicle initial position is in four sensor platform central authorities, and the initial value is: p is a radical of formula 0 ＝[x 0 ，y 0 ，z 0 ] T ＝[1.75，0.75，0.5] T Assuming that the lifting track of the unmanned aerial vehicle in the typical working condition is a straight line, the true track is expressed by a parameterized equation
p k ＝p 0 +n c kΔh，k＝0，1，2，…
Where Δ h is the step size, here the value 25m, n c ＝[0，0，1] T Is a unit direction vector of a motion straight line track of the unmanned aerial vehicle and a motion range z in the height direction of the unmanned aerial vehicle k ∈[0.5，375.5]。
The GDOP curve under the typical working condition is obtained according to the precision analysis formula (19) shown in fig. 5. As can be seen from FIG. 5, under the typical working condition, the position resolving accuracy of the positioning technical scheme of the unmanned aerial vehicle with the height of less than 200m is less than 0.05m, and the positioning accuracy of less than 400m is less than 0.1m, which is obviously superior to the positioning accuracy of a single-point GPS. On the whole, the positioning method is simple, reliable and high in precision, and can completely meet the requirement of autonomous or semi-autonomous flight control operation of the fire-fighting rotor unmanned aerial vehicle.
Claims (1)
1. A high-precision positioning method for a vehicle-mounted fire-fighting high-load rotor unmanned aerial vehicle under a GPS rejection condition is characterized by comprising the following steps:
the first step, initializing deployment of a fire-fighting rotor unmanned aerial vehicle; the ground motor fire truck is used as a base station, four pull rope type displacement sensors are deployed on a roof platform of the ground motor fire truck, each sensor is installed on a rotary table with a pull rope measuring direction, an azimuth angle and a height angle corresponding to the pull rope direction are measured by two angle measuring sensors on the rotary table respectively, and then telescopic rope ends of the four displacement sensors are mounted to the bottom of the unmanned aerial vehicle; the method comprises the following specific steps:
the data lines of the four stay rope type displacement sensors and the angle measuring sensor are connected with a data acquisition port of an electronic computer, a space coordinate system Axyz of the rotor unmanned aerial vehicle is defined and initialized, and the positions of the four stay rope type displacement sensors are identified and initialized: a (0, 0), B (B) 0 ，0，0)，C(0，c 0 ，0)，D(b 0 ，c 0 ，0)；
The ground motor fire truck is adopted to carry out direct-current boosting wired power supply for the rotor unmanned aerial vehicle, a power supply mooring cable of the unmanned aerial vehicle is connected with a fire-fighting water pipe assembly, and fire-fighting bombs are mounted on a base platform of the rotor unmanned aerial vehicle;
the fire-fighting rotary wing unmanned aerial vehicle spatial coordinate system Axyz is defined as follows: the coordinate origin is the installation position of the pull rope type displacement sensor A, and the x axis points to the direction of the vehicle head through the pull rope type displacement sensor B; the y axis is perpendicular to the x axis through the stay rope type displacement sensor A, and the z axis points to the zenith and is a standard right-hand coordinate system; the azimuth angle of the installation turntable of the stay rope type displacement sensor is positioned as follows: taking the positive direction of a parallel x axis as an initial zero position, and taking the anticlockwise rotation as positive; the elevation angle is defined as: taking an xAy plane as a starting zero position and taking an upward direction as a positive direction;
secondly, data acquisition of a displacement sensor and an angle measuring sensor; the method specifically comprises the following steps:
defining four pull-rope type displacement transducersThe output data of the sensors are respectively
The angle measurement data output of the rotary table angle measurement sensor corresponding to the pull rope direction is respectively as follows: azimuth angle
High and low angle
Wherein k represents a serial number of the sampling time of the sensor data;
acquiring output data of four stay rope type displacement sensors and angle measuring sensors corresponding to each rotary table at the moment k, and respectively recording the data as
Thirdly, resolving space position coordinates of the fire-fighting rotor unmanned aerial vehicle; the method comprises the following specific steps:
(1) k =0: resolving the initial position of the unmanned aerial vehicle; deployment position coordinates A (0, 0), B (B) based on four pull rope type displacement sensors 0 ，0，0)，C(0，c 0 ，0)，D(b 0 ，c 0 0) and measured data
Calculating the initial space position coordinate T (x) of the fire-fighting rotor unmanned aerial vehicle by adopting maximum likelihood estimation and a Newton-Raphson method 0 ，y 0 ，z 0 )；
(2) k: = k +1: based on sensor coordinates A (0, 0), B (B) 0 ，0，0)，C(0，c 0 ，0)，D(b 0 ，c 0 0) and measured data
By taking the form of a maximumComputing spatial position coordinates T (x) of fire-fighting rotor unmanned aerial vehicle by using estimation and Newton-Raffson method k ，y k ，z k )；
(3) After the task of the fire-fighting rotor unmanned aerial vehicle is finished and the fire-fighting rotor unmanned aerial vehicle returns to land on the roof platform of the ground small motor fire-fighting vehicle, the position coordinate calculation is stopped, and the vehicle exits; otherwise, returning to the previous step;
the specific process that the space position coordinate of fire control rotor unmanned aerial vehicle was solved does:
the deployment position coordinates of the four pull rope sensors are defined as a vector form:
s 1 ＝[0，0，0] T ，s 2 ＝[b 0 ，0，0] T ，s 3 ＝[0，c 0 ，0] T ，s 4 ＝[b 0 ，c 0 ，0] T (1)
according to equation (1), the general formula of the deployment position coordinate vector of the ith stay rope type sensor is as follows: s is i ＝[x i ，y i ，z i ] T (ii) a Correspondingly, displacement measurement of four pull-cord sensors
The carving is as follows:
corresponding azimuth angle measurement
The carving is as follows:
altitude angle measurement
The picture is characterized in that:
defining the space position vector of the unmanned plane as
p k ＝[x k ，y k ，z k ] T (2)
Assuming that the measurement errors of the sensors are independent of each other and follow a normal distribution, the following sensor measurement equation can be established
η i ＝h i (p k )+w i ，i＝1，2，3，4 (3)
Wherein w i For sensor measurement errors, satisfy
The displacement measurement precision of the ith stay rope type displacement sensor and the azimuth angle and altitude angle measurement precision of the ith rotary table are respectively measured;
is the ith set of sensor measurements; accordingly, the function vector h is observed i (p k )＝[l i (p k )，β i (p k )，ζ i (p k )] T The expressions for the components are as follows:
defining sets of measurement values
The maximum likelihood estimation of the spatial unmanned aerial vehicle coordinates is
Where lnp (z | p) k ) For the log-likelihood function, the expression is
In the formula (8) < gamma >, ( 0 ＝ln((2π) 3/2 |R i | 1/2 ) Is a constant;
solving the formula (7) by adopting a Newton-Laverson method to solve the space position coordinate of the unmanned aerial vehicle, and specifically comprising the following steps:
1) Let the coordinate x = p of the unmanned aerial vehicle to be solved k Converting the formula (7) into equivalent
Wherein
2) Defining j as an iteration variable, and initializing a coordinate estimation value when j =0
3) The iterative solution is performed as follows:
wherein F j Is HesA sine matrix:
4) Judging whether the maximum iteration times is reached or the maximum iteration times is converged to a preset error range, stopping iteration and exiting; otherwise, turning to the step 3).
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