CN109655844B - High accuracy CORS positioner based on unmanned aerial vehicle - Google Patents
High accuracy CORS positioner based on unmanned aerial vehicle Download PDFInfo
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- CN109655844B CN109655844B CN201910093905.0A CN201910093905A CN109655844B CN 109655844 B CN109655844 B CN 109655844B CN 201910093905 A CN201910093905 A CN 201910093905A CN 109655844 B CN109655844 B CN 109655844B
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
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- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
High accuracy CORS positioner based on unmanned aerial vehicle. The invention relates to a high-precision CORS positioning device based on an unmanned aerial vehicle. Square bayonet socket (4) intercommunication left side recess (5) and right side recess (6), left side recess (5) in pack into spring I (7), right side recess (6) in pack into spring II (8), the outer end of spring I (7) and spring II (8) connect respectively and remember cotton layer (9), two the cotton layer of memory (9) set up relatively. According to the invention, the RTK differential positioning information is provided by acquiring the CORS station in real time, and high-precision positioning support is provided for the flight operation of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to a high-precision CORS positioning device based on an unmanned aerial vehicle.
Background
The continuous operation (satellite positioning service) Reference Stations (CORS) established by utilizing a multi-base station network RTK technology are abbreviated as CORS, the basic principle of CORS is to comprehensively apply the GNSS positioning technology, data communication, internet and computer technology to establish a plurality of operation Reference websites in a certain research area, and a local Reference website is formed by combining a data communication link, a data center and a user terminal.
The unmanned aerial vehicle can provide RTK differential positioning information by acquiring a CORS station in real time in the network positioning of the CORS, and high-precision positioning support is provided for the flight operation of the unmanned aerial vehicle.
Disclosure of Invention
The invention aims to provide a high-precision CORS positioning device based on an unmanned aerial vehicle, which provides RTK differential positioning information by acquiring a CORS station in real time and provides high-precision positioning support for flight operation of the unmanned aerial vehicle.
The above purpose is realized by the following technical scheme:
the utility model provides a high accuracy CORS positioner based on unmanned aerial vehicle, its constitution includes: a square box 1, a display screen 2 is arranged on the top surface of the square box 1, an arc bayonet 3 is arranged on the side surface of the square box 1, a square bayonet 4 is arranged on the bottom surface of the square box 1,
the square bayonet 4 is communicated with a left groove 5 and a right groove 6, a spring I7 is arranged in the left groove 5, a spring II 8 is arranged in the right groove 6, the outer ends of the spring I7 and the spring II 8 are respectively connected with a memory cotton layer 9, and the two memory cotton layers 9 are arranged oppositely;
a round ball 12 is arranged in the arc bayonet 3, the round ball 12 is connected with a Z-shaped fastening piece 13, a positioning hole I14 is arranged on the Z-shaped fastening piece 13,
a clamping block 15 is arranged in the memory cotton layer 9, the clamping block 15 is connected with a supporting plate I16 and a supporting plate II 20, the supporting plate I16 penetrates through a fixing shaft I17, the upper end of the fixing shaft I17 is connected with a fastening piece I18, the lower end of the fixing shaft I17 is connected with a fastening piece II 19, a positioning hole II 24 is formed in the fastening piece I18, a positioning hole III 25 is formed in the fastening piece II 19,
the supporting plate II 20 penetrates through a fixing shaft II 21, the upper end of the fixing shaft II 21 is connected with a fastening piece III 22, the lower end of the fixing shaft II 21 is connected with a fastening piece IV 23, a positioning hole IV 26 is formed in the fastening piece III 22, and a positioning hole V27 is formed in the fastening piece IV 23.
Further, square box 1 in install main control chip U1, main control chip U1 and display screen and keyboard both way transmission signal, main control chip U1 receive the GPS integrated circuit board signal that serial ports I transmitted, main control chip U1 pass through serial ports II to GPS integrated circuit board transmission signal, main control chip U1 and 4G network pass through the USB mouth and be connected, main control chip U1, GPS integrated circuit board and 4G network all receive supply circuit's voltage.
Further, 36 ends of main control chip U1 connect No. 7 ends of chip U2, 37 ends of main control chip U1 connect No. 8 ends of chip U2, 69 ends of main control chip U1 connect No. 11 ends of chip U2, 70 ends of main control chip U1 connect No. 12 ends of chip U2, 1 ends of chip U2 and No. 3 ends of chip U2 are connected in series electric capacity C1, 4 ends of chip U2 and No. 5 ends of chip U2 are connected in series electric capacity C2, 10 ends of chip U2 connect No. 11 ends of chip U3, 9 ends of chip U2 connect No. 12 ends of chip U3, 14 ends of chip U2 connect No. 8 ends of chip U3, 13 ends of chip U2 connect No. 9 ends of chip U3.
Further, the 4G network includes a SIM card, the No. 1 end of the SIM card is grounded, the No. 3 end of the SIM card is connected with one end of a resistor R10, the No. 4 end of the SIM card is connected with one end of a resistor R13, the No. 5 end of the SIM card is connected with one end of a resistor R14 and one end of a capacitor C6, the No. 6 end of the SIM card is connected with one end of a resistor R12, one end of a capacitor C5, one end of a capacitor C4 and the No. 8 end of a chip U4, the other end of the capacitor C6 is grounded after being connected with the other end of the capacitor C5 and the other end of the capacitor C4,
the other end of the resistor R14 is connected with the No. 14 end of the chip U4, the other end of the resistor R13 is connected with the No. 12 end of the chip U4, and the other end of the resistor R10 is connected with the other end of the resistor R12 and the No. 10 end of the chip U4.
Has the advantages that:
1. the invention improves the capability of automatic operation and improves the operation efficiency.
2. The invention can monitor, update and position and the surrounding environmental factors at any time, and is more convenient to use.
3. The arc-shaped bayonet and the square bayonet can be used in a matched mode or can be used independently, different connecting pieces can be used according to different installation positions in practice, and the application range is wide.
4. The invention can lead out data through USB, and can charge the battery through the charging port to ensure normal work.
Description of the drawings:
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural diagram of a connecting piece I of the invention.
Fig. 3 is a schematic structural diagram of a connecting piece II of the invention.
Fig. 4 is a logic signal flow diagram of the present invention.
Fig. 5 is a serial communication circuit diagram of the present invention.
Fig. 6 is a circuit diagram of the SIM card interface of the present invention.
Fig. 7 is a display circuit diagram of the present invention.
FIG. 8 is a circuit diagram of the key circuit of the present invention.
Fig. 9 is a power supply circuit diagram of the present invention.
The specific implementation mode is as follows:
the utility model provides a high accuracy CORS positioner based on unmanned aerial vehicle, its constitution includes: a square box 1, a display screen 2 is arranged on the top surface of the square box 1, an arc bayonet 3 is arranged on the side surface of the square box 1, a square bayonet 4 is arranged on the bottom surface of the square box 1,
the square bayonet 4 is communicated with a left groove 5 and a right groove 6, a spring I7 is arranged in the left groove 5, a spring II 8 is arranged in the right groove 6, the outer ends of the spring I7 and the spring II 8 are respectively connected with a memory cotton layer 9, and the two memory cotton layers 9 are arranged oppositely;
a round ball 12 is arranged in the arc bayonet 3, the round ball 12 is connected with a Z-shaped fastening piece 13, a positioning hole I14 is arranged on the Z-shaped fastening piece 13,
the memory cotton layer 9 is internally provided with a clamping block 15, the clamping block 15 is connected with a supporting plate I16 and a supporting plate II 20, the supporting plate I16 penetrates through a fixing shaft I17, the upper end of the fixing shaft I17 is connected with a fastening plate I18, the lower end of the fixing shaft I17 is connected with a fastening plate II 19, the fastening plate I18 is provided with a positioning hole II 24, the fastening plate II 19 is provided with a positioning hole III 25,
the supporting plate II 20 penetrates through a fixing shaft II 21, the upper end of the fixing shaft II 21 is connected with a fastening piece III 22, the lower end of the fixing shaft II 21 is connected with a fastening piece IV 23, a positioning hole IV 26 is formed in the fastening piece III 22, and a positioning hole V27 is formed in the fastening piece IV 23.
Further, square box 1 in install main control chip U1, main control chip U1 and display screen and keyboard both way transmission signal, main control chip U1 receive the GPS integrated circuit board signal that serial ports I transmitted, main control chip U1 pass through serial ports II to GPS integrated circuit board transmission signal, main control chip U1 and 4G network pass through the USB mouth and be connected, main control chip U1, GPS integrated circuit board and 4G network all receive supply circuit's voltage.
Further, 36 ends of main control chip U1 connect No. 7 ends of chip U2, 37 ends of main control chip U1 connect No. 8 ends of chip U2, 69 ends of main control chip U1 connect No. 11 ends of chip U2, 70 ends of main control chip U1 connect No. 12 ends of chip U2, 1 ends of chip U2 and No. 3 ends of chip U2 are connected in series electric capacity C1, 4 ends of chip U2 and No. 5 ends of chip U2 are connected in series electric capacity C2, 10 ends of chip U2 connect No. 11 ends of chip U3, 9 ends of chip U2 connect No. 12 ends of chip U3, 14 ends of chip U2 connect No. 8 ends of chip U3, 13 ends of chip U2 connect No. 9 ends of chip U3.
Furthermore, the 4G network comprises an SIM card, the No. 1 end of the SIM card is grounded, the No. 3 end of the SIM card is connected with one end of a resistor R10, the No. 4 end of the SIM card is connected with one end of a resistor R13, the No. 5 end of the SIM card is connected with one end of a resistor R14 and one end of a capacitor C6, the No. 6 end of the SIM card is connected with one end of a resistor R12, one end of a capacitor C5, one end of a capacitor C4 and the No. 8 end of a chip U4, the other end of the capacitor C6 is grounded after being connected with the other end of the capacitor C5 and the other end of the capacitor C4,
the other end of the resistor R14 is connected with the No. 14 end of the chip U4, the other end of the resistor R13 is connected with the No. 12 end of the chip U4, and the other end of the resistor R10 is connected with the other end of the resistor R12 and the No. 10 end of the chip U4.
This device adopts STM32F4 as main control chip, realizes GPS integrated circuit board positioning data acquisition and processing, receives the difference data and the display positioning data at CORS center in real time.
The GPS board card is P307, the board card is changed into a three-star seven-frequency board, GPS, GLONASS and Beidou signals can be received at the same time, an RTK working mode is supported, RTCM and CMR format differential data input is supported, 4 right ports of the P307 are provided, the port D only receives external differential signals, and level conversion is needed for communication between the P307 and the main control chip as shown in figure 5.
The 4G module selects U8300W, supports mobile, communication and telecommunication mobile phone cards, and designs a circuit diagram as shown in figure 6 because the network transmission module does not have a SIM card interface.
FIG. 7: the No. 26 end of the controller U1 is connected with the No. 4 end of the chip U8,
the No. 27 end of the controller U1 is connected with the No. 5 end of the chip U8,
the No. 28 end of the controller U1 is connected with the No. 6 end of the chip U8,
the No. 31 end of the controller U1 is connected with a working voltage VCC,
the No. 32 end of the controller U1 is connected with one end of the resistor R9 and the No. 14 end of the chip U8,
the No. 33 end of the controller U1 is connected with one end of the resistor R8 and the No. 13 end of the chip U8,
the No. 34 end of the controller U1 is connected with one end of the resistor R7 and the No. 12 end of the chip U8,
the No. 35 end of the controller U1 is connected with one end of the resistor R6 and the No. 11 end of the chip U8,
the No. 36 end of the controller U1 is connected with one end of the resistor R5 and the No. 10 end of the chip U8,
the No. 37 end of the controller U1 is connected with one end of the resistor R4 and the No. 9 end of the chip U8,
the No. 38 end of the controller U1 is connected with one end of the resistor R3 and the No. 8 end of the chip U8,
the No. 39 end of the controller U1 is connected with one end of the resistor R2 and the No. 7 end of the chip U8,
the No. 40 end of the controller U1 is connected with the working voltage VCC and the other end of the resistor R2, the other end of the resistor R3, the other end of the resistor R4, the other end of the resistor R5, the other end of the resistor R6, the other end of the resistor R7, the other end of the resistor R8 and the other end of the resistor R9;
FIG. 8: the terminal 22 of the controller U1 is connected with one end of the key S3, the terminal 23 of the controller U1 is connected with one end of the key S2, the terminal 24 of the controller U1 is connected with one end of the key S1, and the other end of the key S1 is connected with the other end of the key S2 and the other end of the key S3 and then grounded.
The front plate of the square box 1 is provided with a USB interface 11 for data derivation, and the front plate of the square box 1 is provided with a circular charging hole for charging a battery in the square box 1.
Power supply circuit of fig. 9:
the No. 2 end of the power interface J2 is connected with one end of the resistor R20, the working voltage VCC12, one end of the slide converter RP1, one end of the battery EQ, one end of the capacitor E12, the other end of the capacitor C43 and the No. 1 end of the chip U17,
the other end of the sliding device RP1 is connected with one end of a resistor R21 and a base b of a triode Q14, an emitter e of the triode Q14 is connected with one end of a resistor R19, a collector C of the triode Q14 is connected with one end of a capacitor C45 and the base b of the triode Q15, the collector C of the triode Q15 is connected with one end of a resistor R22,
the No. 2 end of the chip U17 is connected with one end of a diode VD2 and one end of an inductor L2, the No. 4 end of the chip U17 is connected with one end of a capacitor E11, one end of a capacitor C44, a working voltage VCC5 and one end of the inductor L2,
the No. 1 end of the power interface J2 is connected with the other end of the resistor R20, the other end of the resistor R21, the other end of the capacitor C45, the other end of the resistor R22, the other end of the resistor R19, the other end of the battery EQ, the other end of the capacitor E12, the other end of the capacitor C43, the No. 3 end of the chip U17, the No. 5 end of the chip U17, the other end of the diode VD2, the other end of the capacitor E11 and the other end of the capacitor C44.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (3)
1. The utility model provides a high accuracy CORS positioner based on unmanned aerial vehicle, its constitution includes: square box (1), characterized by: the top surface of the square box (1) is provided with a display screen (2), the side surface of the square box (1) is provided with an arc bayonet (3), the bottom surface of the square box (1) is provided with a square bayonet (4),
the square bayonet (4) is communicated with a left groove (5) and a right groove (6), a spring I (7) is arranged in the left groove (5), a spring II (8) is arranged in the right groove (6), the outer ends of the spring I (7) and the spring II (8) are respectively connected with memory cotton layers (9), and the two memory cotton layers (9) are arranged oppositely;
a round ball (12) is arranged in the arc bayonet (3), the round ball (12) is connected with a Z-shaped fastening piece (13), a positioning hole I (14) is arranged on the Z-shaped fastening piece (13),
the memory cotton layer (9) is internally provided with a clamping block (15), the clamping block (15) is connected with a support plate I (16) and a support plate II (20), the support plate I (16) penetrates through a fixing shaft I (17), the upper end of the fixing shaft I (17) is connected with a fastening plate I (18), the lower end of the fixing shaft I (17) is connected with a fastening plate II (19), the fastening plate I (18) is provided with a positioning hole II (24), the fastening plate II (19) is provided with a positioning hole III (25),
the supporting plate II (20) penetrates through the fixing shaft II (21), the upper end of the fixing shaft II (21) is connected with the fastening piece III (22), the lower end of the fixing shaft II (21) is connected with the fastening piece IV (23), the fastening piece III (22) is provided with a positioning hole IV (26), and the fastening piece IV (23) is provided with a positioning hole V (27);
the utility model discloses a GPS integrated circuit board, including square box (1), main control chip U1 and display screen and keyboard both-way transmission signal, main control chip U1 receive the GPS integrated circuit board signal that serial ports I transmitted, main control chip U1 pass through serial ports II to GPS integrated circuit board transmission signal, main control chip U1 and 4G network pass through the USB mouth and be connected, main control chip U1, GPS integrated circuit board and 4G network all receive supply circuit's voltage, main control chip realizes GPS integrated circuit board positioning data acquisition and handles, real-time reception CORS central differential data and display positioning data.
2. The high-precision CORS positioning device based on the unmanned aerial vehicle as claimed in claim 1, wherein: the end 36 of the main control chip U1 is connected with the end 7 of the chip U2, the end 37 of the main control chip U1 is connected with the end 8 of the chip U2, the end 69 of the main control chip U1 is connected with the end 11 of the chip U2, the end 70 of the main control chip U1 is connected with the end 12 of the chip U2, the end 1 of the chip U2 is connected with the end 3 of the chip U2 in series with the capacitor C1, the end 4 of the chip U2 is connected with the end 5 of the chip U2 in series with the capacitor C2, the end 10 of the chip U2 is connected with the end 11 of the chip U3, the end 9 of the chip U2 is connected with the end 12 of the chip U3, the end 14 of the chip U2 is connected with the end 8 of the chip U3, and the end 13 of the chip U2 is connected with the end 9 of the chip U3;
the positioning device adopts STM32F4 as a main control chip U1, MAX232 is a chip U2, and P307 board card is a chip U3.
3. The high-precision CORS positioning device based on the unmanned aerial vehicle as claimed in claim 1, wherein: the 4G network comprises an SIM card, the No. 1 end of the SIM card is grounded, the No. 3 end of the SIM card is connected with one end of a resistor R10, the No. 4 end of the SIM card is connected with one end of a resistor R13, the No. 5 end of the SIM card is connected with one end of a resistor R14 and one end of a capacitor C6, the No. 6 end of the SIM card is connected with one end of a resistor R12, one end of a capacitor C5, one end of a capacitor C4 and the No. 8 end of a chip U4, the other end of the capacitor C6 is grounded after being connected with the other end of the capacitor C5 and the other end of the capacitor C4,
the other end of the resistor R14 is connected with the No. 14 end of the chip U4, the other end of the resistor R13 is connected with the No. 12 end of the chip U4, and the other end of the resistor R10 is connected with the other end of the resistor R12 and the No. 10 end of the chip U4;
the positioning device adopts U8300W as a chip U4.
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| CN201910093905.0A CN109655844B (en) | 2019-01-30 | 2019-01-30 | High accuracy CORS positioner based on unmanned aerial vehicle |
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| CN201910093905.0A CN109655844B (en) | 2019-01-30 | 2019-01-30 | High accuracy CORS positioner based on unmanned aerial vehicle |
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| CN109655844B true CN109655844B (en) | 2023-03-31 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204069178U (en) * | 2014-04-09 | 2014-12-31 | 华南农业大学 | A kind of hi-Fix video surveillance acquisition device based on CORS system |
| CN204488684U (en) * | 2015-02-04 | 2015-07-22 | 华平信息技术股份有限公司 | A kind of 4G/GPS board for car-mounted terminal and car-mounted terminal |
| CN206541184U (en) * | 2016-10-21 | 2017-10-03 | 北京七维航测科技股份有限公司 | Suitable for the supervising device of unmanned plane |
| CN107991699A (en) * | 2016-10-27 | 2018-05-04 | 上海华测导航技术股份有限公司 | A kind of system for flight control computer based on the positioning of CORS network differentials |
| CN206178157U (en) * | 2016-10-27 | 2017-05-17 | 上海华测导航技术股份有限公司 | Unmanned aerial vehicle flight control system based on CORS network differential positioning |
| JP2019007964A (en) * | 2018-07-24 | 2019-01-17 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | System and method for estimating position of uav |
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