CN110118555A - UAV Navigation System and method - Google Patents
UAV Navigation System and method Download PDFInfo
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- CN110118555A CN110118555A CN201910447837.3A CN201910447837A CN110118555A CN 110118555 A CN110118555 A CN 110118555A CN 201910447837 A CN201910447837 A CN 201910447837A CN 110118555 A CN110118555 A CN 110118555A
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- unmanned plane
- base station
- controller
- communication unit
- space
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
The invention discloses a kind of UAV Navigation System and methods, including base station, unmanned plane and controller, different positions is arranged in multiple base stations, form an area of space, unmanned plane is disposed therein, controller plans the moving line of unmanned plane according to the dimensional orientation of unmanned plane, adjusts the distance between unmanned plane and each base station；Base station is connected with unmanned plane using uhf electromagnetic wave, pass through data exchange between the two, base station obtains the distance between unmanned plane information, using the distance as radius, base station present position is the centre of sphere, construct sphere, controller obtains the spatial position of unmanned plane by calculating all sphere crosspoints, using the position of unmanned plane as coordinate origin, establish coordinate system, base station is inserted in coordinate system, controller is according to the position of unmanned plane, sending change in location and instructing makes its movement to unmanned plane, base station is sent instructions to simultaneously, under the booster action of base station, unmanned plane execution position variation instruction is to carry out accurate navigation to unmanned plane.
Description
Technical field
The present invention relates to unmanned plane field more particularly to a kind of UAV Navigation System and methods.
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 independent navigation by GPS, but for unmanned plane, if lacking positioning and navigation, like
Unmanned plane has lacked eyes, we can not manipulate unmanned plane, it would therefore be desirable to a kind of new UAV Navigation System
And method, to preferably carry out real-time navigation to unmanned plane.
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, positions true independent of GPS navigation technology using the cooperation between base station and unmanned plane
After fixed, new space coordinates are established, unmanned plane is then guided to carry out the transformation in direction, which can additional organic involvement weight
The sensors such as power accelerometer and gyroscope, barometer and inertial navigation auxiliary, realize the accurate navigation to unmanned plane.
To achieve the above object, the present invention provides a kind of UAV Navigation 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, controller dimensional orientation according to locating for the unmanned plane plans unmanned plane according to use demand
Moving line adjusts the distance between unmanned plane and each base station, to carry out accurate navigation to unmanned plane.
Preferably, the base station is equipped with the first communication unit, the unmanned plane is equipped with the second communication unit, described
After being obtained after first communication unit sending signal by second communication unit, the controller obtains the letter of distance between the two
Breath, the spatial position of the unmanned plane is calculated according to the data information of multiple base stations for the controller, thus to unmanned plane
Carry out general location.
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 the first communication unit, on unmanned plane
Second communication unit sends feedback command to the base station after obtaining, the base station calculates unmanned plane distance by feedback command
The linear distance of base station, after the base station receives feedback command, using linear distance as radius, using base station present position as ball
The heart constructs a sphere, then the data information of this sphere occurs to controller；The controller receives all base stations
Data information carry out summarizing calculating, obtain the crosspoint of all spheres, the feedback command includes the frequency of uhf electromagnetic wave
Rate and received time.
Preferably, the controller establishes space coordinates as coordinate origin using the specific spatial position of unmanned plane, it will
The location information of all base stations carries out space coordinate and determines；Command information is sent to the unmanned plane and base station, the unmanned plane
Under the auxiliary of base station, the transformation of spatial position is carried out, realizes the position navigation of unmanned plane.
The invention also discloses a kind of Navigation of Pilotless Aircraft methods, comprising the following steps:
Area of space is set up: the area of space run for unmanned plane being arranged 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；
Course line is established: being established space coordinate with the position of unmanned plane, under the auxiliary of base station, is carried out the establishment in operation course line.
Preferably, setting up in step in area of space, it is not less than three using the quantity of base station, each base station is set
Stand in different regions, multiple base stations for being built up in different location form an area of space, unmanned plane in the area of space into
Row movement.
Preferably, information transmitting is carried out using communication unit in information exchange step, it is logical equipped with first on base station
Interrogate unit, unmanned plane is equipped with the second communication unit, and first communication unit issues after signal by second communication unit
After acquisition, the controller obtains range information between the two, to carry out general location to unmanned plane.
Preferably, base station sends hyperfrequency electricity to unmanned plane by the first communication unit in the position lock step
Magnetic wave, the second communication unit on unmanned plane send feedback command to the base station after obtaining, base station passes through feedback command calculating
Linear distance of the unmanned plane apart from base station out, after base station receives feedback command, using linear distance as radius, with position locating for base station
It sets as the centre of sphere, constructs a sphere, then the data information of this sphere occurs to controller；The controller receives
The data information of all base stations carries out summarizing calculating, obtains the crosspoint of all spheres, and the feedback command includes hyperfrequency electricity
The frequency of magnetic wave and received time.
Preferably, coordinate system is established using unmanned plane as coordinate origin in the estblishing step of course line, by the position of base station
Information is inserted in the coordinate system, and controller sends command information to unmanned plane and base station, and unmanned plane carries out under the auxiliary of base station
The position navigation of unmanned plane is realized in the transformation of spatial position.
The beneficial effects of the present invention are: the application is independent of GPS or other airmanships, first with multiple base station structures
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, controller is by all sphere phases
Intersection point is calculated, and the spatial position of unmanned plane is obtained, and then using the position of unmanned plane as coordinate origin, establishes coordinate system,
Base station is nested into coordinate system, for controller according to the position of unmanned plane, sending change in location and instructing makes its movement to unmanned plane,
Base station is sent instructions to simultaneously, under the booster action of base station, the variation instruction of unmanned plane execution position.
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 positioning schematic diagram of the invention；
Fig. 4 is navigation scheme of the invention；
Fig. 5 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, the first communication unit
31, the second communication unit.
Specific embodiment
In order to more clearly state the present invention, the present invention is further described with reference to the accompanying drawing.
Referring to Fig. 1, the present invention provides a kind of UAV Navigation System, including base station 2, unmanned plane 3 and controller 1, base
It stands and 2 is provided with multiple, different positions is arranged in multiple base stations 2, forms an area of space, and unmanned plane 3 is arranged in the space
In region, the dimensional orientation according to locating for unmanned plane 3 of controller 1 plans the moving line of unmanned plane 3 according to use demand, adjusts
The distance between whole unmanned plane 3 and each base station 2, to carry out accurate navigation to unmanned plane.In a particular embodiment, due to
GPS positioning will receive the interference of various situations, landform or Fabricated structures etc., therefore we select base station as anchor point, benefit
It is determined with position of the base station to unmanned plane, the direct positioning without using GPS to unmanned plane can thus effectively prevent
GPS bring adverse effect, to be accurately positioned to unmanned plane, after the completion of to be positioned, using unmanned plane as coordinate origin
Space coordinates are established, the position of base station is updated in the space coordinates, is used as assisting navigation；Unmanned plane is according to control
The instruction of device processed carries out the transfer of spatial position, causes it to move to designated position.
To achieve the goals above, base station is equipped with the first communication unit 21, and unmanned plane 3 is equipped with the second communication unit
31, the first communication unit 21 issue signal after by the second communication unit 31 obtain after, controller 1 obtain distance between the two letter
The spatial position of unmanned plane 3 is calculated according to the data information of multiple base stations 2 for breath, controller 1, to carry out to unmanned plane big
Body positioning；The quantity of base station 2 is not less than three, each base station is built up in different regions, multiple different locations that are built up in
Base station forms an area of space for unmanned plane movement, each base station and progress data friendship between unmanned plane and controller
It changes, the synchronous transfer of information is realized between multiple base stations and unmanned plane.More specifically, the position of base station is selected first
When selecting, the region for being moved unmanned plane is needed to be completely covered, such unmanned plane can be established during exercise with all base stations always
Connection, confirms the specific location of unmanned plane；Secondly, the quantity for base station is arranged, it cannot be below three, be because if to sky
Between in point when being positioned, need to know the three-dimensional coordinate in space, two spheres intersections are a face structure, therefore extremely
Few three spheres intersection could form a point, in order to guarantee spherical surface intersect be a little without for linear structure, can also be at nobody
Machine is equipped with height sensor, so that it is determined that the height and position of unmanned plane and ground, height sensor believes the height of unmanned plane
Breath is transmitted in controller, cooperates the data information of base station, thus the specific location of the determination unmanned plane in linear structure, when
So, if the base station number of setting is more, just no setting is required height sensor, full utilization base station position unmanned plane.
Base station 2 sends uhf electromagnetic wave to unmanned plane by the first communication unit 21, and the second communication on unmanned plane 3 is single
Member 31 sends feedback command to base station 2 after obtaining, base station 2 by feedback command calculate straight line of the unmanned plane apart from base station away from
After receiving feedback command from, base station 2, using linear distance as radius, using 2 present position of base station as the centre of sphere, a ball is constructed
Then body the data information of this sphere occurs to controller 1；The data information that controller 1 receives all base stations carries out
Summarize calculating, obtain the crosspoint of all spheres, feedback command include uhf electromagnetic wave frequency and the received time.?
In concrete application, using microwave as the means carried out data transmission between base station and unmanned plane, base station first is sent out by microwave
It send the positioning signal with timestamp to unmanned plane, after the receiving unit of unmanned plane receives positioning signal, sends one to unmanned plane
A feedback signal with timestamp after base station receives feedback signal, according to the difference of timestamp and the frequency of microwave, calculates
The distance between base station and unmanned plane out；Certainly, also need to mention herein is a little to carry out when setting up of base station, nothing
The position coordinates of base station need to be needed to record, because the application is exactly to re-establish the positioning for not using global positioning system
Mode, the form that the position coordinates of finally obtained unmanned plane indicate are similar to apart from first base station 10km, are located at first base station
30 degree of north by east direction, multiple such location informations are summarized, and realize the space orientation to unmanned plane；Further, since being benefit
The acquisition of position is carried out with base station, positioning accuracy can achieve Centimeter Level, thus when being particularly applicable in execution task, it can be real
Now accurate positioning, ensure that unmanned function is accurate to up to location point, is not in biggish deviation.
Controller 1 establishes space coordinates as coordinate origin using the specific spatial position of unmanned plane 3, by all base stations 2
Location information carries out space coordinate and determines；Send command information to unmanned plane 3 and base station 2, unmanned plane 3 under the auxiliary of base station 2,
The position navigation of unmanned plane is realized in the transformation for carrying out spatial position.More specifically, behind the spatial position for determining unmanned plane,
Controller sends instructions to corresponding base station, and the present position of unmanned plane is known in base station, then using unmanned plane as coordinate origin, with
Unmanned plane will the direction of motion be a reference axis establish coordinate system, the position of base station is updated in the coordinate system, determine
The position coordinates of base station, when needing to carry out the transformation of position to unmanned plane, controller is according to the location informations of multiple base stations
And will unmanned plane movement direction on one take a little；Movement angle of the unmanned plane relative to each base station is calculated, and
The movement angle is occurred to unmanned plane, unmanned plane adjusts the state of flight of unmanned plane according to this movement angle, to realize
The navigation of unmanned plane, such as when needing to be moved unmanned plane towards the direction of the second base station, controller is by the second base station institute
The position at place is sent to unmanned plane, and unmanned plane is just moved towards the second base station；When needing unmanned plane in first base station and
When some direction in the region that second base station is constituted is moved, controller is according to the position of first base station and the second base station
Coordinate establishes a movement section, then takes the motion profile and first base station that determine unmanned plane further according in the direction of motion
And the second angle between base station, these data informations are sent to unmanned plane, unmanned plane is transported according to these data informations
It is dynamic, to realize navigation；In order to guarantee that navigation is more stable accurate, controller also sends identical data information to base station, base
It stands after reception, the angle towards mutual remaining (β=90- α) sends traction signal, so that unmanned plane be guided to be moved, this also belongs to this
The protection scope of application.
The invention also discloses a kind of Navigation of Pilotless Aircraft methods, comprising the following steps:
Area of space is set up: the area of space run for unmanned plane being arranged 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；
Course line is established: being established space coordinate with the position of unmanned plane, under the auxiliary of base station, is carried out the establishment in operation course line.
It is set up in step in area of space, is not less than three using the quantity of base station, each base station is built up in difference
Region, multiple base stations for being built up in different location form an area of space, and unmanned plane moved in the area of space；?
In information exchange step, information transmitting is carried out using communication unit, is equipped with the first communication unit on base station, unmanned plane is equipped with
Second communication unit, first communication unit issues obtained by second communication unit after signal after, the controller obtains
Range information between the two is arrived, to carry out general location to unmanned plane；In the position lock step, base station passes through first
Communication unit sends uhf electromagnetic wave to unmanned plane, and the second communication unit on unmanned plane sends feedback command to institute after obtaining
Base station is stated, base station calculates linear distance of the unmanned plane apart from base station by feedback command, 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 the controller receives all base stations carries out summarizing calculating, obtains the intersection of all spheres
Point, the feedback command include uhf electromagnetic wave frequency and the received time；In the estblishing step of course line, with unmanned plane
Coordinate system is established as coordinate origin, the location information of base station is inserted in the coordinate system, controller sends command information to nothing
Man-machine and base station, unmanned plane carry out the transformation of spatial position under the auxiliary of base station, realize the position navigation 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) data exchange is carried out using uhf electromagnetic wave, it is ensured that the stability of data transmission；
3) when carrying out Navigation of Pilotless Aircraft, completely new coordinate system is established, and using base station as auxiliary traction, ensure that unmanned plane is transported
The accuracy in dynamic direction.
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 UAV Navigation 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
Controller dimensional orientation according to locating for the unmanned plane is stated, according to use demand, the moving line of unmanned plane is planned, adjusts nothing
The distance between man-machine and each base station, to carry out accurate navigation to unmanned plane.
2. UAV Navigation System according to claim 1, which is characterized in that it is single that the base station is equipped with the first communication
Member, the unmanned plane are equipped with the second communication unit, and first communication unit issues after signal by second communication unit
After acquisition, the controller obtains range information between the two, and the controller is calculated according to the data information of multiple base stations
The spatial position of the unmanned plane is obtained, to carry out general location to unmanned plane.
3. UAV Navigation 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 carried out between unmanned plane and controller.
4. UAV Navigation System according to claim 1, which is characterized in that the base station by the first communication unit to
Unmanned plane sends uhf electromagnetic wave, and the second communication unit on unmanned plane sends feedback command to the base station, institute after obtaining
The linear distance that base station calculates unmanned plane apart from base station by feedback command is stated, after the 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 the controller receives all base stations carries out summarizing calculating, obtains the intersection of all spheres
Point, the feedback command include uhf electromagnetic wave frequency and the received time.
5. UAV Navigation System according to claim 1, which is characterized in that the controller is with the specific sky of unmanned plane
Meta position is set to coordinate origin and establishes space coordinates, and the location information of all base stations is carried out space coordinate and is determined；Send instruction
For information to the unmanned plane and base station, the unmanned plane carries out the transformation of spatial position under the auxiliary of base station, realizes unmanned plane
Position navigation.
6. a kind of Navigation of Pilotless Aircraft method, which comprises the following steps:
Area of space is set up: the area of space run for unmanned plane being arranged 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；
Course line is established: being established space coordinate with the position of unmanned plane, under the auxiliary of base station, is carried out the establishment in operation course line.
7. Navigation of Pilotless Aircraft method according to claim 6, which is characterized in that set up in step in area of space, benefit
It is not less than three with the quantity of base station, each base station is built up in different regions, multiple base station shapes for being built up in different location
At an area of space, unmanned plane is moved in the area of space.
8. Navigation of Pilotless Aircraft method according to claim 6, which is characterized in that in information exchange step, utilize communication
Unit carries out information transmitting, is equipped with the first communication unit on base station, unmanned plane is equipped with the second communication unit, and described first is logical
After being obtained after news unit sending signal by second communication unit, the controller obtains range information between the two, from
And general location is carried out to unmanned plane.
9. Navigation of Pilotless Aircraft method according to claim 6, which is characterized in that in the position lock step, base station is logical
It crosses the first communication unit and sends uhf electromagnetic wave to unmanned plane, the second communication unit on unmanned plane sends feedback after obtaining and refers to
It enables to the base station, base station calculates linear distance of the unmanned plane apart from base station by feedback command, and base station receives feedback command
Afterwards, using linear distance as radius, using base station present position as the centre of sphere, a sphere is constructed, then by the number of this sphere
It is believed that breath occurs to controller；The data information that the controller receives all base stations carries out summarizing calculating, obtains all balls
The crosspoint of body, the feedback command include uhf electromagnetic wave frequency and the received time.
10. Navigation of Pilotless Aircraft method according to claim 6, which is characterized in that in the estblishing step of course line, with unmanned plane
Coordinate system is established as coordinate origin, the location information of base station is inserted in the coordinate system, controller sends command information to nothing
Man-machine and base station, unmanned plane carry out the transformation of spatial position under the auxiliary of base station, realize the position navigation of unmanned plane.
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| WO2022198579A1 (en) * | 2021-03-25 | 2022-09-29 | 深圳市大疆创新科技有限公司 | Method for positioning mobile platform, mobile platform, system, and storage medium |
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Application publication date: 20190813 |