CN109633542B

CN109633542B - Arrangement method of local map network for unmanned aerial vehicle

Info

Publication number: CN109633542B
Application number: CN201811462019.2A
Authority: CN
Inventors: 闫廷廷; 陈天宇; 翟智云
Original assignee: Cccc Remote Sensing Load Jiangsu Technology Co Ltd
Current assignee: CCCC remote sensing load (Jiangsu) Technology Co., Ltd
Priority date: 2018-11-30
Filing date: 2018-11-30
Publication date: 2021-10-15
Anticipated expiration: 2038-11-30
Also published as: CN109633542A

Abstract

The invention discloses a method for arranging a local map network for an unmanned aerial vehicle, which comprises the steps of arranging a plurality of annunciators in a target plot, taking the self position of a control terminal as an original point, collecting signals sent by the annunciators, calculating the relative spatial positions of the annunciators, and then storing position data into a local map; the control terminal is in communication connection with a flight control system of the unmanned aerial vehicle and guides the unmanned aerial vehicle to carry out flight operation by means of a local map; the positioning method does not depend on satellite positioning systems such as a GPS and the like, so that the cost of using a base station and purchasing a mobile base station is saved; meanwhile, the local map can overcome errors of the GPS in the direction of the altitude, and accurate judgment of the terrain in the land is achieved, so that the flight safety and operation accuracy of the unmanned aerial vehicle are improved.

Description

Arrangement method of local map network for unmanned aerial vehicle

Technical Field

The invention relates to a method for arranging a local map network for an unmanned aerial vehicle.

Background

With the development of science and technology, unmanned aerial vehicles are beginning to be applied in a plurality of fields such as pesticide spraying, forest fire prevention monitoring, geological exploration. And the precision of positioning and navigation determines the fine degree of the unmanned aerial vehicle in the air. Because the GPS navigation is directly adopted, the error is larger, the existing unmanned aerial vehicle navigation usually adopts two modes of network RTK and base station RTK, and the satellite differential positioning is utilized to realize higher positioning accuracy. However, the network RTK requires a corresponding network card, which is expensive and expensive in flight operation; and the use of the base station RTK is assisted by moving the base station, so that the equipment purchase cost and the use cost are also higher. Therefore, it is necessary to invent a local map network arrangement method for unmanned aerial vehicles, which does not depend on positioning satellites and has good portability.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the arrangement method of the local map network for the unmanned aerial vehicle, which is independent of a positioning satellite and has good portability.

The technical scheme is as follows: in order to achieve the purpose, the arrangement method of the local map network for the unmanned aerial vehicle comprises the steps that a plurality of annunciators are arranged in a target plot, a control terminal takes the position of the control terminal as an original point, the signals sent by the annunciators are collected, the relative spatial positions of the annunciators are calculated, and then position data are stored into a local map; and the control terminal is in communication connection with a flight control system of the unmanned aerial vehicle and guides the unmanned aerial vehicle to carry out flight operation by means of a local map.

Further, after the control terminal stores the local map, the annunciator is recovered; when returning to the same target plot next time, place control terminal in the position the same with last time, rely on the local map of storage can guide unmanned aerial vehicle flight operation, need not to use the signal ware again punctuate.

Further, when another new target plot is connected with the boundary of the current plot, local map storage of the current target plot is firstly completed, then the annunciators at the connection position of the two plots are reserved, and the rest annunciators are recovered and punctuated for the new target plot.

Further, the control terminal is transferred into a new target plot, a new position point of the control terminal is calculated according to the position of the annunciator at the joint of the two plots, and then a local map of the new target plot is calculated.

Further, the annunciator comprises an edge scanner; the edge tracing devices are distributed at intervals along the edge of the target land; the control terminal can identify the enclosed area according to the position points provided by the edge tracing device.

Further, the edge tracing device is also arranged in the target land parcel and corresponds to the inflection point of the terrain variation.

Further, the annunciator further comprises a marker; the markers are distributed near the obstacles in the target plot, and the control terminal calibrates the markers in the local map according to the positions of the markers and guides the unmanned aerial vehicle to avoid the airspace near the markers.

Has the advantages that: the invention relates to a method for arranging a local map network for an unmanned aerial vehicle, which comprises the steps of arranging a plurality of annunciators in a target plot, taking the self position of a control terminal as an original point, collecting signals sent by the annunciators, calculating the relative spatial positions of the annunciators, and then storing position data into a local map; the control terminal is in communication connection with a flight control system of the unmanned aerial vehicle and guides the unmanned aerial vehicle to carry out flight operation by means of a local map; the positioning method does not depend on satellite positioning systems such as a GPS and the like, so that the cost of using a base station and purchasing a mobile base station is saved; meanwhile, the local map can overcome errors of the GPS in the direction of the altitude, and accurate judgment of the terrain in the land is achieved, so that the flight safety and operation accuracy of the unmanned aerial vehicle are improved.

Drawings

FIG. 1 is a schematic diagram of a map network layout location;

fig. 2 is a schematic diagram of the placement of annunciators in a terrace-like structure.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

A method for arranging a local map network for an unmanned aerial vehicle is disclosed, as shown in figure 1, a dotted line frame represents that an area is a target land block, a plurality of annunciators 1 are arranged in the target land block, a control terminal 2 takes the position of the control terminal as an original point, acquires signals sent by the annunciators 1 and calculates the relative spatial position of each annunciator 1, and then position data is stored as a local map; the control terminal 2 is in communication connection with a flight control system of the unmanned aerial vehicle and guides the unmanned aerial vehicle to carry out flight operation by means of a local map; the control terminal 2 has communication function and data processing and calculating function, the positioning mode can be realized by radio, namely, the control terminal 2 is taken as the origin point of the determined position, the radio signal sent by the annunciator 1 is collected by a receiver, the time interval from the sending to the receiving of the signal is calculated, and the relative distance from the control terminal 1 to the annunciator 1 is calculated, so that the positioning is completed; the radio transmitting and receiving devices are all available from the market directly, and are not described herein; meanwhile, an auxiliary transceiver 3 is arranged in the target land, the auxiliary transceiver 3 is placed to a specific position of the control terminal 2 by a worker, the auxiliary transceiver 3 can also collect radio waves sent by the annunciator 1 and transmit the information to the control terminal 2, further accurate positioning of the annunciator 1 can be realized by utilizing mutual comparison among different signal receiving points, and a local map corresponding to the target land can be obtained by integrating the position points; the positioning method does not depend on satellite positioning systems such as a GPS and the like, so that the cost of using a base station and purchasing a mobile base station is saved; meanwhile, the local map can overcome the error of the GPS in the direction of the altitude height, and realize accurate judgment of the terrain in the land, so that the flight safety and the operation accuracy of the unmanned aerial vehicle are improved; meanwhile, by using the dotting type mark of the annunciator 1, the annunciator 1 only needs to have a signal sending function, so that the annunciator can be made into a device with small volume; for example, the annunciator 1 is made into a cone shape, so that the annunciator can be conveniently thrown into the field, meanwhile, an indicator lamp is arranged on the annunciator 1, the position of the annunciator 1 can be quickly judged at night and conveniently recovered, and meanwhile, the annunciator can also be connected with an internal system for monitoring the signal emission state; the control terminal 2 and the signal devices 1 occupy small space, are convenient to arrange and are convenient to carry.

After the control terminal 2 stores the local map, the annunciator 1 is recovered; when the unmanned aerial vehicle returns to the same target plot next time, the control terminal 2 is placed at the position and the direction the same as the position and the direction of the last time, the unmanned aerial vehicle can be guided to fly and operate by depending on the stored local map, and the signal device 1 does not need to be used for re-pointing; because the generated local map takes the control terminal 2 as an origin, the same direction of the control terminal 2 as that of the previous acquisition is only required to be ensured; the local map can be stored in a corresponding storage space for a long time, so that the same target plot only needs to be measured once, and the method is very suitable for multiple interval operations, such as spraying pesticides to the field regularly.

When another new target plot is connected with the boundary of the current plot, firstly completing the local map storage of the current target plot, then reserving the annunciators 1 at the connection part of the two plots, recovering the rest annunciators 1 and carrying out punctuation on the new target plot; the common annunciator 1 of the two plots can be used for positioning the position of a new plot, so that local maps of adjacent plots are gathered and integrated, and the efficient utilization of the annunciator 1 and the quick conversion of the operation plots are realized.

The control terminal 2 is transferred into a new target block, so that the situation that the distance between the control terminal 2 and the new block is too far to influence positioning is avoided, a new position point of the control terminal 2 is calculated by depending on the position of the annunciator 1 at the joint of the two blocks, and then a local map of the new target block is calculated, so that a relative space coordinate system can be established in a superposed mode on the basis of the local map corresponding to the first target block, and the application range of the map network arrangement method is effectively expanded.

The annunciator 1 comprises an edge tracing device 11; the edge painters 11 are distributed at intervals along the edge of the target land; the control terminal 2 can identify the enclosed area according to the position point provided by the edge tracing device 11, thereby avoiding the complex operation of uninterrupted edge tracing by the edge tracing device when RTK navigation is adopted, and being more convenient to operate when complex terrain is encountered.

The edge tracing device 11 is also arranged in the target plot and corresponds to the inflection point of the terrain change, the terrain change has great influence on certain flight operations, such as high-altitude liquid medicine spraying, fertilization and the like, and the ground clearance of the unmanned aerial vehicle can influence the range and density of dispersed materials; simultaneously, as shown in figure 2, to this kind of special topography of terraced fields, also can't the accurate change of judging its difference in height of ordinary GPS location, and just can easily realize through tracing limit ware 11, adopt support body form figure to represent the terraced fields structure in the picture, edge ware 11 is traced to circular the representative, the unmanned aerial vehicle of spraying insecticide above the terraced fields structure.

The annunciator 1 further comprises an identifier 12; the markers 12 are distributed near the obstacles in the target plot, the control terminal 2 performs calibration in a local map according to the positions of the markers 12, and the unmanned aerial vehicle is guided to avoid the airspace near the markers 12; at present, the unmanned aerial vehicle only can realize obstacle avoidance by mounting components such as a laser sensor or a vision sensor on a body, so that the machine purchasing cost of the unmanned aerial vehicle is increased, the operating power is increased, and the cruising ability of the unmanned aerial vehicle is influenced; by placing the marker 12 near an object to be avoided, obstacle avoidance can be realized by the control terminal 2, so that the equipment cost is lower; by utilizing the obstacle avoidance function, obstacles such as telegraph poles and the like can be avoided during field flight operation.

The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.

Claims

1. A method for arranging a local map network for drones, characterized in that: arranging a plurality of annunciators (1) in a target plot, taking the position of a control terminal (2) as an origin, acquiring signals sent by the annunciators (1), calculating the relative spatial position of each annunciator (1), and then storing position data as a local map; the control terminal (2) is in communication connection with a flight control system of the unmanned aerial vehicle and guides the unmanned aerial vehicle to carry out flight operation by means of a local map;

after the control terminal (2) stores the local map, the annunciator (1) is recovered; when the unmanned aerial vehicle returns to the same target plot next time, the control terminal (2) is placed at the position and the direction the same as the position and the direction of the last time, the unmanned aerial vehicle can be guided to fly and operate by depending on the stored local map, and the signal device (1) is not needed to be used for re-pointing;

the annunciator (1) includes an identifier (12); the markers (12) are distributed near the obstacles in the target plot, and the control terminal (2) calibrates in a local map according to the positions of the markers (12) and guides the unmanned aerial vehicle to avoid the airspace near the markers (12);

transferring the control terminal (2) into a new target block, calculating a new position point of the control terminal (2) by depending on the position of the annunciator (1) at the joint of the two blocks, and then calculating to obtain a local map of the new target block;

the annunciator (1) comprises an edge tracing device (11); the edge tracing devices (11) are distributed at intervals along the edge of the target land; the control terminal (2) can identify the enclosed area according to the position point provided by the edge scanner (11);

the edge tracing device (11) is also arranged in the target land parcel and corresponds to the inflection point of the terrain variation.

2. A method of arranging a local area map network for drones according to claim 1, characterized in that: when another new target plot is connected with the boundary of the current plot, local map storage of the current target plot is firstly completed, then the annunciators (1) at the connection part of the two plots are reserved, and the rest annunciators (1) are recovered and punctuated on the new target plot.