CN110082719A - Unmanned plane positioning system and method - Google Patents
Unmanned plane positioning system and method Download PDFInfo
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- CN110082719A CN110082719A CN201910446836.7A CN201910446836A CN110082719A CN 110082719 A CN110082719 A CN 110082719A CN 201910446836 A CN201910446836 A CN 201910446836A CN 110082719 A CN110082719 A CN 110082719A
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- 230000004807 localization Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
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Classifications
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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
- G01S5/12—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 by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses a kind of unmanned plane positioning system and method, positioning system includes base station, unmanned plane and controller, and base station is provided with multiple, and different positions is arranged in multiple base stations, forms an area of space, and unmanned plane is arranged in the area of space.The application constitutes an area of space for unmanned plane operation independent of GPS or other airmanships, using multiple base stations, and unmanned plane is moved in the area；It is attached between base station and unmanned plane using uhf electromagnetic wave, by data exchange between the two, base station obtains the distance between unmanned plane information and, using base station present position as the centre of sphere, constructs a sphere then using the range information as radius；The information of sphere is all sent to controller by all base stations, and the controller carries out the sphere information of all base stations to summarize calculating, obtains the crosspoint of all spheres, the i.e. specific spatial position of unmanned plane.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control field more particularly to a kind of unmanned plane positioning systems and method.
Background technique
Unmanned plane is a kind of unmanned vehicle onboard program control or be remotely controlled by radio wave.Unmanned plane purposes is wide
It is general, it can be used for taking photo in the sky, express transportation, the fields such as military surveillance, have many advantages, such as that easy to use, mobility is good.
Currently, the positioning of the motion carriers such as unmanned plane and navigation can only rely on GPS and inertial navigation system, but used
Property navigation system in, due to its sensor be easy by external environmental interference, cause positioning accuracy low；In GPS positioning system
In system, due to the limitation of the factors such as landform, Fabricated structures, some areas GPS signal is weaker or without GPS signal, therefore this
A little regions also can not realize positioning by GPS, but for unmanned plane, if lacking positioning, it is not known that locating for unmanned plane
Position, we can not carry out next step judgement to unmanned plane, it would therefore be desirable to a kind of new unmanned plane positioning system and side
Method, so that preferably unmanned plane be accurately positioned.
Summary of the invention
Shortcoming present in view of the above technology, the present invention provide a kind of completely new unmanned plane positioning system and side
Method is realized unmanned plane and is accurately positioned independent of GPS navigation technology using the cooperation between base station and unmanned plane.
To achieve the above object, the present invention provides a kind of unmanned plane positioning system, including base station, unmanned plane and controller,
The base station is provided with multiple, and different positions is arranged in multiple base stations, forms an area of space, and the unmanned plane setting exists
In the area of space, the base station is equipped with transmitting unit, and the unmanned plane is equipped with receiving unit, and the transmitting unit issues
After being obtained after signal by the receiving unit, the controller obtains range information between the two, and the controller is according to more
The spatial position of the unmanned plane is calculated in the data information of a base station, to specifically be positioned to unmanned plane.
Preferably, the quantity of the base station is not less than three, each base station is built up in different regions, multiple to set up
Form an area of space for unmanned plane movement in the base station of different location, each base station and unmanned plane and controller it
Between carry out data exchange.
Preferably, the base station sends uhf electromagnetic wave to unmanned plane by transmitting unit, the reception on unmanned plane
Unit sends feedback command to the base station after obtaining, the base station calculates unmanned plane apart from the straight of base station by feedback command
Linear distance, the feedback command include uhf electromagnetic wave frequency and the received time.
Preferably, after the base station receives feedback command, using linear distance as radius, using base station present position as
The centre of sphere constructs a sphere, then the data information of this sphere occurs to controller；The controller receives all bases
The data information stood carries out summarizing calculating, finally obtains the specific spatial position of unmanned plane.
Preferably, the controller summarizes the data information of multiple spheres, the crosspoint of all spheres is calculated, it should
Specific spatial position of the point i.e. as unmanned plane.
The invention also discloses a kind of localization methods of unmanned plane, comprising the following steps:
It establishes area of space: the area of space run for unmanned plane is set using base station,
Information exchange: utilizing uhf electromagnetic wave, realizes that base station is interacted with the data transmission between unmanned plane, controller；
Position locking: the spatial position of the unmanned plane is calculated according to the data information of multiple base stations for controller, thus right
Unmanned plane is specifically positioned.
Preferably, being not less than three using the quantity of base station, each base station is built up in not when establishing area of space
Same region, multiple base stations for being built up in different location form an area of space, and unmanned plane is moved in the area of space.
Preferably, base station sends uhf electromagnetic wave, nothing to unmanned plane by transmitting unit in information exchange step
Receiving unit on man-machine sends feedback command to base station after obtaining, base station calculates unmanned plane apart from base station by feedback command
Linear distance, the feedback command include uhf electromagnetic wave frequency and the received time.
Preferably, in the lock step of position, after base station receives feedback command, using linear distance as radius, with base
Present position stand as the centre of sphere, constructs a sphere, then the data information of this sphere occurs to controller；The control
The data information that device processed receives all base stations carries out summarizing calculating, finally obtains the specific spatial position of unmanned plane.
Preferably, controller summarizes the data information of multiple spheres, the crosspoint of all spheres is calculated, which is
Specific spatial position as unmanned plane.
The beneficial effects of the present invention are: the application utilizes multiple base station structures independent of GPS or other airmanships first
At an area of space for unmanned plane operation, unmanned plane is moved in the area；Using super between base station and unmanned plane
Frequency electromagnetic waves are attached, and by data exchange between the two, base station obtains the distance between unmanned plane information, then
Using the range information as radius, using base station present position as the centre of sphere, a sphere is constructed；All base stations are all by the letter of sphere
Breath is sent to controller, and the controller carries out the sphere information of all base stations to summarize calculating, obtains the phase of all spheres
Intersection point, the i.e. specific spatial position of unmanned plane.
Detailed description of the invention
Fig. 1 is connection schematic diagram of the invention；
Fig. 2 is use state diagram of the invention；
Fig. 3 is the principle of the present invention figure；
Fig. 4 is flow chart of the method for the present invention.
Main element symbol description is as follows:
1, controller 2, base station
3, unmanned plane 21, transmitting unit
31, receiving unit.
Specific embodiment
In order to more clearly state the present invention, the present invention is further described with reference to the accompanying drawings and examples.
Please refer to Fig. 1 and Fig. 2, a kind of unmanned plane positioning system of disclosure of the invention, including base station 2, unmanned plane 3 and control
Device 1 processed, base station are provided with multiple, and different positions is arranged in multiple base stations, form an area of space, and unmanned plane is arranged at this
In area of space, base station is equipped with transmitting unit 21, and unmanned plane is equipped with receiving unit 31, and transmitting unit is connect after issuing signal
After receiving unit acquisition, controller obtains range information between the two, and controller is calculated according to the data information of multiple base stations
To the spatial position of the unmanned plane, to specifically be positioned to unmanned plane.In a particular embodiment, due to GPS positioning meeting
By the interference of various situations, landform or Fabricated structures etc., therefore we select base station as anchor point, using base station to nothing
Man-machine position is determined, and the direct positioning without using GPS to unmanned plane thus can effectively prevent GPS bring not
Benefit influences, so as to be accurately positioned to unmanned plane.
In the present embodiment, the quantity of base station is not less than three, each base station is built up in different regions, multiple to set up
Form an area of space for unmanned plane movement in the base station of different location, each base station and unmanned plane and controller it
Between carry out data exchange, synchronize data exchange between multiple base stations and unmanned plane, controller.More specifically, first
When selecting the position of base station, the region for being moved unmanned plane is needed to be completely covered, such unmanned plane begins during exercise
Connection can be established with all base stations eventually, confirm the specific location of unmanned plane；Secondly, the quantity for base station is arranged, cannot be below
Three, be because if needing to know the three-dimensional coordinate in space, two sphere intersections when positioning to a point in space
For a face structure, therefore the intersection of at least three spheres could form a point, be a little without for line to guarantee that spherical surface intersects
Property structure, can also be equipped with height sensor, so that it is determined that the height and position of unmanned plane and ground, highly sensing on unmanned plane
The elevation information of unmanned plane is transmitted in controller by device, cooperates the data information of base station, thus the determination in linear structure
The specific location of unmanned plane, certainly, if the base station number of setting is more, just no setting is required height sensor, is fully utilized base
It stands and unmanned plane is positioned, further, since being the acquisition for carrying out position using base station, positioning accuracy be can achieve centimetre
Grade, to be able to achieve accurate positioning when the case where being particularly applicable in execution task.
Referring to Fig. 3, in the present embodiment, base station sends uhf electromagnetic wave to unmanned plane by transmitting unit, nobody
Receiving unit on machine sends feedback command to base station after obtaining, base station calculates unmanned plane apart from base station by feedback command
Linear distance, feedback command include uhf electromagnetic wave frequency and the received time；After base station receives feedback command, with straight
Linear distance is as radius, using base station present position as the centre of sphere, constructs a sphere, then sends out the data information of this sphere
In life to controller；The data information that controller receives all base stations carries out summarizing calculating, calculates the crosspoint of all spheres,
Finally obtain the specific spatial position of unmanned plane.In a particular application, it is counted using microwave as between base station and unmanned plane
According to the means of transmission, base station first sends the positioning signal with timestamp to unmanned plane, the reception list of unmanned plane by microwave
After member receives positioning signal, the feedback signal for having timestamp is sent to unmanned plane, after base station receives feedback signal, according to
The difference of timestamp and the frequency of microwave, calculate the distance between base station and unmanned plane；Certainly, it also needs to mention herein
Be a bit, carry out when setting up of base station, need to record the position coordinates of base station, and to imported into controller in advance
It is interior, it is just able to achieve the space orientation to unmanned plane in this way.
Referring to Fig. 4, a kind of positioning side of unmanned plane is also disclosed in the application in order to enable above-mentioned technical proposal can be realized
Method, comprising the following steps:
It establishes area of space: the area of space run for unmanned plane is set using base station,
Information exchange: utilizing uhf electromagnetic wave, realizes that base station is interacted with the data transmission between unmanned plane, controller；
Position locking: the spatial position of the unmanned plane is calculated according to the data information of multiple base stations for controller, thus right
Unmanned plane is specifically positioned.
When establishing area of space, it is not less than three using the quantity of base station, each base station is built up in different regions,
Multiple base stations for being built up in different location form an area of space, and unmanned plane is moved in the area of space.
In information exchange step, base station sends uhf electromagnetic wave to unmanned plane by transmitting unit, on unmanned plane
Receiving unit sends feedback command to base station after obtaining, base station by feedback command calculate straight line of the unmanned plane apart from base station away from
From, the feedback command include uhf electromagnetic wave frequency and the received time.
In the lock step of position, after base station receives feedback command, using linear distance as radius, with base station present position
As the centre of sphere, a sphere is constructed, then the data information of this sphere occurs to controller；Controller receives all bases
The data information stood carries out summarizing calculating, calculates the crosspoint of all spheres, finally obtains the specific spatial position of unmanned plane.
Present invention has an advantage that
1) when carrying out unmanned plane positioning, GPS positioning is not used, unmanned plane is accurately positioned using multiple base stations；
2) when carrying out unmanned plane positioning, using completely new station-keeping mode, the simpler position for obtaining unmanned plane in actually manipulation
Confidence breath；
3) data exchange is carried out using uhf electromagnetic wave, it is ensured that the stability of data transmission.
Disclosed above is only several specific embodiments of the invention, but the present invention is not limited to this, any ability
What the technical staff in domain can think variation should all fall into protection scope of the present invention.
Claims (10)
1. a kind of unmanned plane positioning system, which is characterized in that including base station, unmanned plane and controller, the base station is provided with more
A, different positions is arranged in multiple base stations, forms an area of space, and the unmanned plane is arranged in the area of space, institute
Base station is stated equipped with transmitting unit, the unmanned plane is equipped with receiving unit, and the transmitting unit is connect after issuing signal by described
After receiving unit acquisition, the controller obtains range information between the two, and the controller is believed according to the data of multiple base stations
The spatial position of the unmanned plane is calculated in breath, to specifically be positioned to unmanned plane.
2. unmanned plane positioning system according to claim 1, which is characterized in that the quantity of the base station is not less than three,
Each base station is built up in different regions, and multiple base stations for being built up in different location form a space for unmanned plane movement
Region, each base station with data exchange is synchronized between unmanned plane and controller.
3. unmanned plane positioning system according to claim 1, which is characterized in that the base station by transmitting unit to nobody
Machine sends uhf electromagnetic wave, and the receiving unit on unmanned plane sends feedback command to the base station after obtaining, the base station is logical
Cross the linear distance that feedback command calculates unmanned plane apart from base station, the feedback command include the frequency of uhf electromagnetic wave with
And the received time.
4. unmanned plane positioning system according to claim 3, which is characterized in that after the base station receives feedback command, with
Linear distance is as radius, using base station present position as the centre of sphere, a sphere is constructed, then by the data information of this sphere
Occur to controller；The data information that the controller receives all base stations carries out summarizing calculating, finally obtains unmanned plane
Specific spatial position.
5. the unmanned plane positioning system stated according to claim 4, which is characterized in that the controller believes the data of multiple spheres
Breath summarizes, and calculates the crosspoint of all spheres, which is the specific spatial position for being used as unmanned plane.
6. a kind of localization method of unmanned plane, which comprises the following steps:
It establishes area of space: the area of space run for unmanned plane is set using base station,
Information exchange: utilizing uhf electromagnetic wave, realizes that base station is interacted with the data transmission between unmanned plane, controller；
Position locking: the spatial position of the unmanned plane is calculated according to the data information of multiple base stations for controller, thus right
Unmanned plane is specifically positioned.
7. unmanned plane localization method according to claim 6, which is characterized in that when establishing area of space, utilize base station
Quantity be not less than three, each base station is built up in different regions, and multiple base stations for being built up in different location are formed
Between region, unmanned plane moved in the area of space.
8. unmanned plane localization method according to claim 6, which is characterized in that in information exchange step, base station passes through
Transmitting unit sends uhf electromagnetic wave to unmanned plane, and the receiving unit on unmanned plane sends feedback command to base station after obtaining,
Base station calculates linear distance of the unmanned plane apart from base station by feedback command, and the feedback command includes uhf electromagnetic wave
Frequency and received time.
9. unmanned plane localization method according to claim 6, which is characterized in that in the lock step of position, base station is received
After feedback command, using linear distance as radius, using base station present position as the centre of sphere, a sphere is constructed, then by this
The data information of sphere occurs to controller；The data information that the controller receives all base stations carries out summarizing calculating, most
The specific spatial position of unmanned plane is obtained eventually.
10. unmanned plane localization method according to claim 9, which is characterized in that controller believes the data of multiple spheres
Breath summarizes, and calculates the crosspoint of all spheres, which is the specific spatial position for being used as unmanned plane.
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| TWI731451B (en) * | 2019-09-27 | 2021-06-21 | 中光電智能機器人股份有限公司 | Drone and positioning method thereof, drone communication system and operation method thereof |
| CN113985910A (en) * | 2021-09-09 | 2022-01-28 | 常州希米智能科技有限公司 | Unmanned aerial vehicle control method and system combining mobile network and satellite positioning |
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