CN109633542A - A kind of method for arranging of the locality map network for unmanned plane - Google Patents
A kind of method for arranging of the locality map network for unmanned plane Download PDFInfo
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- CN109633542A CN109633542A CN201811462019.2A CN201811462019A CN109633542A CN 109633542 A CN109633542 A CN 109633542A CN 201811462019 A CN201811462019 A CN 201811462019A CN 109633542 A CN109633542 A CN 109633542A
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- unmanned plane
- signalling means
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- locality map
- locality
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of method for arranging of locality map network for unmanned plane, several signalling means are arranged in target plot, controlling terminal is using self-position as origin, signal transmitted by acquisition signalling means and the relative tertiary location for calculating each signalling means, are then stored as locality map for position data；The flight control system communication connection of the controlling terminal and unmanned plane carries out flight operation by locality map guidance unmanned plane；This localization method does not depend on the global position systems such as GPS, saves using base station and buy the cost of mobile base station；Meanwhile this locality map can overcome error of the GPS on height above sea level direction, the accurate judgement to topography in plot be realized, to improve the flight safety and operation precision of unmanned plane.
Description
Technical field
The present invention relates to a kind of method for arranging of locality map network for unmanned plane.
Background technique
With the development of science and technology, unmanned plane starts to be used in pesticide spraying, forest fire protection monitoring, geological prospecting etc.
Multiple fields.And the precision of location navigation determines the fine degree of unmanned plane aerial work.Because directlying adopt GPS to lead
Its error of navigating is larger, so existing Navigation of Pilotless Aircraft generallys use network RTK and base station RTK two ways, it is poor using satellite
Positioning is divided to realize higher positioning accuracy.However network RTK to be used to need corresponding network card, cost of use is high
High, flight operating cost is higher；And using base station RTK be then by mobile base station carry out auxiliary positioning, equipment purchase cost and
Use cost is equally higher.It is therefore necessary to invent a kind of local for unmanned plane for not depending on position location satellite, good portability
The method for arranging of property map network.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the present invention provides one kind and does not depend on position location satellite, just
The method for arranging of the good locality map network for unmanned plane of the property taken.
Technical solution: to achieve the above object, a kind of arrangement of locality map network for unmanned plane of the invention
Method arranges several signalling means in target plot, and controlling terminal acquires letter transmitted by signalling means using self-position as origin
Number and calculate the relative tertiary location of each signalling means, position data is then stored as locality map；The controlling terminal
With the flight control system communication connection of unmanned plane, flight operation is carried out by locality map guidance unmanned plane.
Further, after controlling terminal has stored locality map, signalling means is recycled；It is same when returning next time
When target plot, controlling terminal is placed on the identical location fix with the last time, can be drawn by the locality map of storage
Unmanned plane during flying operation is led, is no longer needed to using signalling means again punctuate.
Further, when connecting there are another fresh target plot with the boundary in current plot, current mesh is completed first
The locality map storage for marking plot, then retains the signalling means of two plot joints, remaining signalling means is recycled and to new mesh
It marks plot and carries out punctuate.
Further, controlling terminal is transferred in fresh target plot, is counted by the signalling means position of two plot joints
The new location point for calculating controlling terminal, is then calculated the locality map in fresh target plot.
Further, the signalling means includes retouching side device；The side device of retouching is spaced apart along the edge in target plot；It is described
Controlling terminal may recognize that enclosed region according to retouching location point provided by the device of side i.e..
Further, the side device of retouching is additionally arranged in target plot, corresponding at the inflection point of topography variation.
Further, the signalling means further includes concentrator marker；The concentrator marker is distributed in the barrier inside target plot
Near, controlling terminal is demarcated in locality map according to the position of concentrator marker, and unmanned plane is guided to avoid near concentrator marker
Airspace.
The utility model has the advantages that a kind of method for arranging of locality map network for unmanned plane of the invention, in target plot
Interior several signalling means of arrangement, controlling terminal acquire signal transmitted by signalling means and calculate each letter using self-position as origin
The relative tertiary location of number device, is then stored as locality map for position data；The winged control of the controlling terminal and unmanned plane
System communication connection carries out flight operation by locality map guidance unmanned plane；This localization method does not depend on the satellites such as GPS
Positioning system saves using base station and buys the cost of mobile base station；Meanwhile this locality map can overcome GPS to exist
Error on height above sea level direction realizes the accurate judgement to topography in plot, to improve the flight safety of unmanned plane
With operation precision.
Detailed description of the invention
Attached drawing 1 is map network arrangement position view；
Attached drawing 2 is the signalling means placement position schematic diagram in class terraced fields structure.
Specific embodiment
The present invention will be further explained with reference to the accompanying drawing.
A kind of method for arranging of the locality map network for unmanned plane, as shown in Fig. 1, dotted line frame indicate that region is
Several signalling means 1 are arranged in target plot in target plot, and controlling terminal 2 acquires 1 institute of signalling means using self-position as origin
The signal of transmission and the relative tertiary location for calculating each signalling means 1, are then stored as locality map for position data；It is described
The flight control system communication connection of controlling terminal 2 and unmanned plane carries out flight operation by locality map guidance unmanned plane；Control
Terminal 2 has communication function and data processing computing function, this kind of positioning method can specifically be realized using radio, i.e., with control
Terminal 2 processed is the origin for determining position, acquires the radio signal that signalling means 1 issues by receiver, calculates signal and is issued to
Time interval between reception, to calculate controlling terminal 1 to the relative distance between signalling means 1, to complete to position；Nothing
The transmitting of line electricity and reception device can be directly from buying on the market, and this will not be repeated here；Meanwhile auxiliary is arranged in target plot
Transceiver 3, accessory transceiver 3 are placed into the particular orientation of controlling terminal 2 by staff, and accessory transceiver 3 can also acquire letter
The radio wave that number device 1 is issued, and by these message transports to controlling terminal 2, using mutual between unlike signal receiving point
It compares, the further precise positioning to signalling means 1 may be implemented, it is corresponding that target plot can be obtained in the integration of these location points
Locality map；This localization method does not depend on the global position systems such as GPS, saves using base station and purchase mobile base station
Cost；Meanwhile this locality map can overcome error of the GPS on height above sea level direction, realize to topography in plot
Accurate judgement, to improve the flight safety and operation precision of unmanned plane；Meanwhile utilizing the dot type of signalling means 1
Mark, which only needs to have signal sending function, therefore can be made the device of volume very little；Such as by signalling means 1
Do it is tapered can be convenient to lose throw to field, while indicator light being installed on signalling means 1, can quickly judge signalling means at night
1 position facilitates recycling, while can also connect with built-in system, for the state of monitoring signals transmitting；If controlling terminal 2 and
Dry signalling means 1 occupies little space, and it is convenient to arrange, is conducive to carry.
After controlling terminal 2 has stored locality map, signalling means 1 is recycled；When with returning same target next time
When block, controlling terminal 2 is placed on last identical location fix, the locality map by storage is that nobody may be guided
Machine flight operation, no longer needs to using signalling means 1 again punctuate；Because the locality map generated is using controlling terminal 2 as original
Point, so only needing to guarantee that the orientation of controlling terminal 2 itself is identical as when acquiring before；Locality map can be in phase
It is saved for a long time in the memory space answered, it is ensured that same target plot only needs to measure once, is very suitable for repeatedly being spaced behaviour
Make, such as periodically sprinkles pesticide to field.
When connecting there are another fresh target plot with the boundary in current plot, the office in current goal plot is completed first
Domain property map storage, then retain two plot joints signalling means 1, by remaining signalling means 1 recycle and to fresh target plot into
Rower point；The positioning to new plot position can be completed using the signalling means 1 that two plot share, thus by the local in adjacent plot
Property map summarize integration, also achieve signalling means 1 it is efficient using and operation plot be quickly converted.
Controlling terminal 2 is transferred in fresh target plot, so that it is fixed to avoid controlling terminal 2 and new plot hypertelorism from influencing
Position, the new location point of controlling terminal 2 is calculated by 1 position of signalling means of two plot joints, fresh target is then calculated
The locality map in plot, thus can the regional map corresponding to first aim plot on the basis of, superposition is built
Vertical relative spatial co-ordinates system, effectively extends the application range of the map network arrangement method.
The signalling means 1 includes retouching side device 11；The side device 11 of retouching is spaced apart along the edge in target plot；The control
Terminal 2 may recognize that enclosed region according to retouching location point provided by side device 11 i.e., need when so as to avoid using RTK navigation
Troublesome operation when uninterruptedly retouching is carried out in device with retouching, operation is also easily facilitated when encountering complicated landform.
The side device 11 of retouching is additionally arranged in target plot, corresponding at the inflection point of topography variation, this topography variation pair
The influence of certain flight operations is very big, such as high-altitude medicine liquid spray, fertilising, the terrain clearance of unmanned plane will affect its dispersed material
Range and density；Meanwhile as shown in Fig. 2, for this kind of special landform of terraced fields, common GPS positioning also can not be accurate
Judge the variation of its difference in height, and can easily be realized by retouching side device 11, terraced fields structure is represented using frame body shape figure in figure,
Circle represents and retouches side device 11, and terraced fields superstructure is the unmanned plane sprayed insecticide.
The signalling means 1 further includes concentrator marker 12；The concentrator marker 12 is distributed near the barrier inside target plot,
Controlling terminal 2 is demarcated in locality map according to the position of concentrator marker 12, and unmanned plane is guided to avoid near concentrator marker 12
Airspace；Unmanned plane is wanted to realize the portion that avoidance can only be laser sensor or visual sensor etc by installation on fuselage at present
Part realizes that this not only adds the purchase machine costs of unmanned plane, and increase operation power, will affect the continuation of the journey energy of unmanned plane
Power；By the way that concentrator marker 12 is placed on the near vicinity for needing to avoid, so that it may realize avoidance, equipment cost by controlling terminal 2
It is lower；Utilize the barrier avoiding function, so that it may avoid the barriers such as electric pole when carrying out field flight operation.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (7)
1. a kind of method for arranging of the locality map network for unmanned plane, it is characterised in that: if being arranged in target plot
Dry signalling means (1), for controlling terminal (2) using self-position as origin, signal transmitted by acquisition signalling means (1) simultaneously calculates each letter
The relative tertiary location of number device (1), is then stored as locality map for position data；The controlling terminal (2) and unmanned plane
Flight control system communication connection, by locality map guidance unmanned plane carry out flight operation.
2. a kind of method for arranging of locality map network for unmanned plane according to claim 1, it is characterised in that:
After controlling terminal (2) has stored locality map, signalling means (1) is recycled；When returning same target plot next time,
Controlling terminal (2) is placed on the identical location fix with the last time, by locality map, that is, bootable unmanned plane of storage
Flight operation is no longer needed to using signalling means (1) again punctuate.
3. a kind of method for arranging of locality map network for unmanned plane according to claim 2, it is characterised in that:
When connecting there are another fresh target plot with the boundary in current plot, the locality map in current goal plot is completed first
Storage then retains the signalling means (1) of two plot joints, remaining signalling means (1) is recycled and is marked to fresh target plot
Point.
4. a kind of method for arranging of locality map network for unmanned plane according to claim 3, it is characterised in that:
Controlling terminal (2) is transferred in fresh target plot, calculates controlling terminal by signalling means (1) position of two plot joints
(2) the locality map in fresh target plot is then calculated in new location point.
5. a kind of method for arranging of locality map network for unmanned plane according to claim 1, it is characterised in that:
The signalling means (1) includes retouching side device (11)；The side device (11) of retouching is spaced apart along the edge in target plot；The control is eventually
(2) are held to may recognize that enclosed region according to location point provided by side device (11) is retouched.
6. a kind of method for arranging of locality map network for unmanned plane according to claim 5, it is characterised in that:
The side device (11) of retouching is additionally arranged in target plot, corresponding at the inflection point of topography variation.
7. a kind of method for arranging of locality map network for unmanned plane according to claim 5, it is characterised in that:
The signalling means (1) further includes concentrator marker (12)；The concentrator marker (12) is distributed near the barrier inside target plot, control
Terminal (2) processed is demarcated in locality map according to the position of concentrator marker (12), and unmanned plane is guided to avoid concentrator marker (12)
Neighbouring airspace.
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| CN201811462019.2A CN109633542B (en) | 2018-11-30 | 2018-11-30 | Arrangement method of local map network for unmanned aerial vehicle |
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