CN109856592A - A kind of ultrasound positioning device and its localization method of unmanned plane - Google Patents
A kind of ultrasound positioning device and its localization method of unmanned plane Download PDFInfo
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- CN109856592A CN109856592A CN201811345444.3A CN201811345444A CN109856592A CN 109856592 A CN109856592 A CN 109856592A CN 201811345444 A CN201811345444 A CN 201811345444A CN 109856592 A CN109856592 A CN 109856592A
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Abstract
The present invention relates to a kind of ultrasound positioning device of unmanned plane and its localization methods, positioning device includes that the ultrasonic transmitting element being installed on electric power line pole tower and the ultrasonic wave being installed on unmanned plane receive positioning unit, the ultrasonic transmitting element includes ultrasound emission array, emission array controller, solar panel and the battery of sequentially connected regular polygon, it includes sequentially connected L shape ultrasonic wave receiving array, ultrasonic acquisition unit, signal processing and locating module that the ultrasonic wave, which receives positioning unit,.The special designing that the present invention passes through ultrasonic wave emission array and receiving array, realize the communication not needed between emitting portion and reception position portion, emitting portion is all the time in transmitting signal, the receiving portion being installed on unmanned plane, which is only abutted against the collection of letters number, can complete positioning, to efficiently realize positioning.
Description
Technical field
The invention belongs to multi-rotor unmanned aerial vehicle fields, are related to unmanned plane space orientation, especially a kind of to be used for transmission line of electricity
Make an inspection tour multi-rotor unmanned aerial vehicle ultrasound positioning device and its localization method.
Background technique
As the scale of power grid gradually expands, transmission line equipment amount increases sharply, and traditional manual inspection cannot
Meet demand, especially western China, mountains and rivers river is numerous, and manual inspection workload difficulty is big, and makes an inspection tour low efficiency.
In recent years, UAV Intelligent inspection technology rapidly developed, and it is not influenced by landform, is patrolled along transmission line of electricity
Depending on greatly improving tour working efficiency, and unmanned plane can carry different advanced airborne equipments, can closely observe defeated
Electric wire line pole tower realizes the multiple functions such as visible light, infrared measurement of temperature, effectively increases inspection quality, but unmanned plane still needs
Outstanding driver manipulates, and needs unmanned plane in visual range, and when ground environment complexity, unmanned plane is accurately positioned aobvious
It obtains more important.
Currently, multi-rotor unmanned aerial vehicle mostly uses GPS positioning, but civilian GPS positioning always has 5-10 meters of error.Dynamic in real time
Positioning progress can be improved in measuring technique RTK (Real Time Kinematic), but in measurement process, and there is still a need for logical by RTK
It crosses GPS to position the datum mark of known accurate coordinate, then unmanned plane position be calibrated, in field work, it is known that
The datum mark of position is often difficult to realize, and RTK technical costs is higher.And for patrolling transmission line, do not need to know
The accurate location of unmanned plane, it is only necessary to the accurate location of accurate measurement every relatively shaft tower of unmanned plane.
Summary of the invention
It is an object of the invention in place of overcome the deficiencies in the prior art, provide a kind of utilization ultrasonic array location technology
Realize device and its localization method based on the unmanned plane positioning on the basis of electric power line pole tower.Unmanned plane phase can accurately be measured
To the accurate location of shaft tower, it preferably can survey to patrol automatically for power transmission line unmanned machine positioning support is provided.
The technical proposal for solving the technical problem of the invention is:
A kind of ultrasound positioning device of unmanned plane, including the ultrasonic transmitting element that is installed on electric power line pole tower and
The ultrasonic wave being installed on unmanned plane receives positioning unit, and the ultrasonic transmitting element includes sequentially connected regular polygon
Ultrasound emission array, emission array controller, solar panel and battery, the ultrasonic wave receives positioning unit packet
Include sequentially connected L shape ultrasonic wave receiving array, ultrasonic acquisition unit, signal processing and locating module.
Moreover, the regular polygon is positive tetrahedron, regular hexahedron, regular octahedron, regular dodecahedron, positive 20 face
Body.
Moreover, the regular polygon ultrasound emission array is positive tetrahedron emission array, 1, center array element, four tops
Each 1 array element is put, totally 5 array element.
Moreover, the L shape ultrasonic reception array is that multiple array element ultrasonic reception sensors are arranged by L shape, array element spacing
It is approximately the half-wavelength of ultrasonic transmitting element transmitting ultrasonic wave.
Moreover, the L shape ultrasonic reception array presses L shape for the ultrasonic reception sensor of 3 array elements or 5 array elements or 7 array elements
Arrangement.
The invention further relates to a kind of localization methods of the ultrasound positioning device of unmanned plane, and steps are as follows:
Step 1, emission array controller control each ultrasonic wave transmitting probe of regular polygon ultrasound emission array with pre-
The time interval ordered circuits sequentially transmitting ultrasonic signal, and the frequency of first ultrasonic wave transmitting probe transmitting ultrasonic wave is f1,
The frequency of second and later ultrasonic wave transmitting probe transmitting ultrasonic wave is f2, and f2 is close with f1, the ultrasound of transmitting f1 frequency
Wave is used to be confirmed as the center array element of emission array；
Step 2, L shape ultrasonic wave receiving array receive incoming ultrasonic signal, receive through ultrasonic acquisition unit sampling
After be transferred to signal processing and locating module；
After receiving the ultrasonic signal that L shape receiving array receives, detection is connect for step 3, signal processing and locating module
The frequency of ultrasonic wave is received, to determine the center array element of emission array；When being transmitted according to fixed transmitting time delay and ultrasonic signal
Prolong, determines distance of each transmitting array element relative to center array element；Each ultrasound emission battle array is calculated with Estimation of Spatial Spectrum method
The arrival bearing of column, and using spatial algorithm algorithm to ultrasound emission array distance estimations, it is final to realize unmanned plane and power transmission rod
Positioning between tower.
The spatial algorithm algorithm are as follows: by obtaining angle and intrinsic transmitting between each emission array signal source
Array elements spacing is calculated using distance of the space triangular computation to center array element, is carried out in conjunction with to center array element
Estimation of Spatial Spectrum calculates the orientation obtained, realizes the positioning of center array element.
The advantages and positive effects of the present invention are:
1, the present invention realizes by the special designing of ultrasonic wave emission array and receiving array and does not need emitting portion
With the communication between reception position portion, emitting portion is all the time in transmitting signal, the receiving unit being installed on unmanned plane
Point being only abutted against the collection of letters number can complete to position, to efficiently realize positioning.
2, the present invention can determine that unmanned plane is sat relative to the space of transmission tower by efficient positioning calculation algorithm
Mark.
Detailed description of the invention
Fig. 1 is the structural block diagram of this system；
Fig. 2 is the schematic diagram of regular polygon ultrasound emission array in this system；
Fig. 3 is L shape ultrasonic wave receiving array schematic diagram in this system.
Specific embodiment
The invention will be further described with reference to the accompanying drawing and by specific embodiment, and following embodiment is descriptive
, it is not restrictive, this does not limit the scope of protection of the present invention.
A kind of ultrasound positioning device of unmanned plane, including be installed on electric power line pole tower ultrasonic transmitting element, peace
Positioning unit is received loaded on the ultrasonic wave on unmanned plane.
The ultrasonic transmitting element being installed on electric power line pole tower is super including sequentially connected regular polygon
Sound emission array, emission array controller, solar panel and battery.Above-mentioned device is mounted on shell by framework.
The regular polygon ultrasound emission array can be positive tetrahedron emission array, 1, center array element, four tops
Each 1 array element is put, totally 5 array element；Regular hexahedron emission array (9 array element)；Regular octahedron, regular dodecahedron, regular dodecahedron, this hair
It is bright by taking positive tetrahedron as an example, such as attached drawing 2；Regular polygon ultrasound emission array can emit the ultrasound for generating certain frequency
Wave.
The emission array controller, including singlechip controller can generate the sine wave signal of certain frequency, and
At predetermined intervals and scheduled sequential control regular polygon ultrasound emission array emitter ultrasonic wave.
Solar panel and battery can automatic storage electric energy, and provide for emission array controller steady in a long-term
Power supply.
Described mounting frame and shell etc. are capable of fixing ultrasonic transmitting element various pieces, and by its stable installation
In on electric power line pole tower.
The ultrasonic wave being installed on unmanned plane receives positioning unit, including sequentially connected L shape ultrasonic wave receives
Array and ultrasonic acquisition unit, signal processing and locating module.
L shape ultrasonic reception array can be arranged for the ultrasonic reception sensor of the array elements such as 3 array elements, 5 array elements, 7 array elements by L shape
Cloth, array element spacing are approximately the half-wavelength of ultrasonic transmitting element transmitting ultrasonic wave, being capable of ultrasonic wave in reception space.
The ultrasonic acquisition unit can acquire the ultrasonic electrical signal of L shape ultrasonic reception array received and be adopted
Sample and digitized processing, and by the electric signal of acquisition be transmitted to signal processing and locating module.
Signal processing and locating module are able to detect the frequency for receiving ultrasonic wave, to determine the center array element of emission array,
Distance of each transmitting array element relative to center array element can be determined according to fixed transmitting time delay and ultrasonic signal propagation delay time
Distance can be estimated using arrival direction of the spatial spectral estimation algorithm to each transmitting array element, and according to the shape of emission array
Shape feature resolves the distance between emission array center array element and L shape receiving array.And location information can be passed to unmanned plane
Etc. equipment.
Emission array controller control stereoscopic ultrasound emission array launches different frequency ultrasonic wave in certain sequence, by L
After shape ultrasonic wave receiving unit receives, signal is handled, passes to signal processing and locating module, and by each hair
It penetrates source and carries out direction estimation, and after multiple emission source directions determine, the space for carrying out unmanned plane with respect to electric power line pole tower is sat
Target location Calculation.
The principle for realizing positioning for a better understanding of the present invention is described now in conjunction with specific position fixing process.
Emission array controller can be added common signal amplification chip or push-pull amplifier circuit to form by 51 single-chip microcontrollers
(such as MAX232 chip), and signal is passed into L shape ultrasound emission array.
As shown in Fig. 2, sharing 5 transmitting probes, P1, P2, P3, P4, P5, P1 are located at just regular polygon ultrasound emission array
Tetrahedral center, P1 array element and other array element spacing are 50cm.P1 tranmitting frequency be 20kHz ultrasonic signal, P2, P3, P4,
P5 tranmitting frequency is the ultrasonic signal of 19kHz, and signal length is 1ms, transmission interval 20ms, and continual round to
Outer transmitting ultrasonic signal.
For L shape ultrasonic reception array as shown in figure 3, sharing 5 receiving transducers T1, T2, T3, T4, T5, probe spacing is signal
Half-wavelength, i.e. 0.5*v/f=0.5*340m/s/20kHz=0.85cm.Each array element of L shape receiving array receives each transmitting simultaneously
The ultrasonic signal that probe is launched, and it is converted into electric signal.
Ultrasonic reception module can be made of common data acquisition card (the 8 channel capture cards that such as sample rate is 1.33MHz),
Sampling processing is carried out to the electric signal that L shape ultrasonic reception array acquisition arrives, obtains the supersonic array signal of set of number, and will
Supersonic array signal passes to signal processing and locating module.
Signal processing and locating module mainly realized by common single-chip microcontroller processor, (such as common MSP430 single-chip microcontroller),
Firstly, determining that P1 emits array element according to the frequency for receiving signal；Secondly, determining P2, P3, P4, P5 according to the time delay for receiving signal
Whether it is greater than P1 and T1 distance with T1 distance；Again, (such as multiple to the progress Estimation of Spatial Spectrum operation of supersonic array received signal
Modulation recognition MUSIC algorithm, since algorithm is more mature, this patent is no longer described), obtain the incoming wave side of P1 and other transmitting array elements
To quadrant of the arrival bearing's angle and P1 of calculating P2, P3, P4, P5 and P1 in unmanned plane coordinate system.
Finally utilize distance, the final incoming wave for obtaining P1 between spatial algorithm method estimation P1 and ultrasonic reception array elements T1
Direction and distance.Realize accurate positionin of the unmanned plane with respect to P1.
Further spatial algorithm method is as follows:
Assuming that the angle of P2, P3, P4, P5 and P1 are A, B, C, D, unmanned plane receiving array to 5 transmitting array element distances is set
For l1, l2, l3, l4, l5 (unknown), and assuming l2<l1, l3, l4, l5 be equal>l1 (reaching time delay according to signal can obtain), then exist
Following formula:
After (1) is converted to (4) (l2<l1, l3, l4, l5 equal>l1)
Because P2, P3, P4, P5 are located at the vertex of positive tetrahedron, P1 is located at the center of positive tetrahedron, thus approximation obtain it is as follows
Formula
l2+l3+l4+l5=4l1 (9)
By (9) formula and (5) to (8) formula simultaneous, obtain
When not determining whether l2, l3, l4, l5 are greater than l1, (10)
L can be solved to formula (10) method of being iterated using single-chip microcontroller1。
In the case where not determining whether l2, l3, l4, l5 are greater than l1, (10) formula be can be expressed as
Such as l2 > l1, then first ± take-, otherwise take+, remaining three are similarly.
The final arrival bearing for obtaining P1 and distance, realize accurate positionin of the unmanned plane with respect to P1, and determine therefrom that defeated
Accurate location of the electric wire line pole tower relative to unmanned plane.
What has been described above is only a preferred embodiment of the present invention, it is noted that for those of ordinary skill in the art
For, under the premise of not departing from inventive concept, various modifications and improvements can be made, these belong to protection of the invention
Range.
Claims (7)
1. a kind of ultrasound positioning device of unmanned plane, it is characterised in that: including the ultrasonic wave hair being installed on electric power line pole tower
The ultrasonic wave penetrating unit and being installed on unmanned plane receives positioning unit, and the ultrasonic transmitting element includes being sequentially connected
Regular polygon ultrasound emission array, emission array controller, solar panel and battery, the ultrasonic wave receives
Positioning unit includes sequentially connected L shape ultrasonic wave receiving array, ultrasonic acquisition unit, signal processing and locating module.
2. the ultrasound positioning device of unmanned plane according to claim 1, it is characterised in that: the regular polygon is positive four
Face body, regular hexahedron, regular octahedron, regular dodecahedron, regular dodecahedron.
3. the ultrasound positioning device of unmanned plane according to claim 1 or 2, it is characterised in that: the regular polygon is super
Sound emission array is positive tetrahedron emission array, 1, center array element, each 1 array element in four vertex, totally 5 array element.
4. the ultrasound positioning device of unmanned plane according to claim 1, it is characterised in that: the L shape ultrasonic reception battle array
It is classified as multiple array element ultrasonic reception sensors to arrange by L shape, array element spacing is approximately ultrasonic transmitting element transmitting ultrasonic wave
Half-wavelength.
5. the ultrasound positioning device of unmanned plane according to claim 4, it is characterised in that: the L shape ultrasonic reception battle array
The ultrasonic reception sensor for being classified as 3 array elements or 5 array elements or 7 array elements is arranged by L shape.
6. a kind of localization method of the ultrasound positioning device of unmanned plane according to claim 1, it is characterised in that: step is such as
Under:
Step 1, emission array controller control each ultrasonic wave transmitting probe of regular polygon ultrasound emission array to subscribe
Time interval circuits sequentially transmitting ultrasonic signal, and the frequency of first ultrasonic wave transmitting probe transmitting ultrasonic wave is f1, and second
The frequency of a and later ultrasonic wave transmitting probe transmitting ultrasonic wave is f2, and f2 is close with f1, and the ultrasonic wave of transmitting f1 frequency is used
In the center array element for being confirmed as emission array；
Step 2, L shape ultrasonic wave receiving array receive incoming ultrasonic signal, pass after the reception of ultrasonic acquisition unit sampling
It is defeated by signal processing and locating module；
After receiving the ultrasonic signal that L shape receiving array receives, detection receives super for step 3, signal processing and locating module
The frequency of sound wave, to determine the center array element of emission array；According to fixed transmitting time delay and ultrasonic signal propagation delay time, really
Distance of the fixed each transmitting array element relative to center array element；With Estimation of Spatial Spectrum method calculate each ultrasound emission array come
Wave direction, and pressed from both sides using between the arrival bearing between the features of shape of regular polygon ultrasound emission array and multiple transmitting array elements
Angle carries out ultrasound emission array distance estimations, the final positioning realized between unmanned plane and transmission tower.
7. according to the localization method of the ultrasound positioning device of unmanned plane described in right 6, it is characterised in that: by obtaining each transmitting
Angle and intrinsic emission array array element spacing between Array Signal Source, using space triangular computation to center array element
Distance calculated, in conjunction with to center array element carry out Estimation of Spatial Spectrum calculate obtain orientation, realize center array element positioning.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110824417A (en) * | 2019-11-06 | 2020-02-21 | 国网天津市电力公司 | Multi-rotor unmanned aerial vehicle outdoor sound and electricity combined positioning method for power transmission line inspection |
| CN113788144A (en) * | 2021-09-28 | 2021-12-14 | 浙江科比特科技有限公司 | Accurate positioning device for electric power inspection unmanned aerial vehicle |
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| GB939736A (en) * | 1959-08-12 | 1963-10-16 | Akad Wissenschaften Ddr | Improvements in or relating to infrasonic apparatus |
| US20040066708A1 (en) * | 2002-08-30 | 2004-04-08 | Fuji Photo Film Co., Ltd. | Ultrasonic transmitting and receiving apparatus |
| CN104062633A (en) * | 2014-07-11 | 2014-09-24 | 西安电子科技大学 | Indoor positioning system and method based on ultrasonic waves |
| CN108922553A (en) * | 2018-07-19 | 2018-11-30 | 苏州思必驰信息科技有限公司 | Wave arrival direction estimating method and system for sound-box device |
| CN209446763U (en) * | 2018-11-13 | 2019-09-27 | 国网天津市电力公司 | A kind of ultrasound positioning device of unmanned plane |
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2019
- 2019-01-14 CN CN201811345444.3A patent/CN109856592A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB939736A (en) * | 1959-08-12 | 1963-10-16 | Akad Wissenschaften Ddr | Improvements in or relating to infrasonic apparatus |
| US20040066708A1 (en) * | 2002-08-30 | 2004-04-08 | Fuji Photo Film Co., Ltd. | Ultrasonic transmitting and receiving apparatus |
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| CN209446763U (en) * | 2018-11-13 | 2019-09-27 | 国网天津市电力公司 | A kind of ultrasound positioning device of unmanned plane |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110824417A (en) * | 2019-11-06 | 2020-02-21 | 国网天津市电力公司 | Multi-rotor unmanned aerial vehicle outdoor sound and electricity combined positioning method for power transmission line inspection |
| CN110824417B (en) * | 2019-11-06 | 2023-01-06 | 国网天津市电力公司 | Multi-rotor unmanned aerial vehicle outdoor sound and electricity combined positioning method for power transmission line inspection |
| CN113788144A (en) * | 2021-09-28 | 2021-12-14 | 浙江科比特科技有限公司 | Accurate positioning device for electric power inspection unmanned aerial vehicle |
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Application publication date: 20190607 |