CN110220508A - A kind of indoor low cost aircraft localization method and device based on UT - Google Patents
A kind of indoor low cost aircraft localization method and device based on UT Download PDFInfo
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- CN110220508A CN110220508A CN201910567182.3A CN201910567182A CN110220508A CN 110220508 A CN110220508 A CN 110220508A CN 201910567182 A CN201910567182 A CN 201910567182A CN 110220508 A CN110220508 A CN 110220508A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
- G01C19/34—Rotary gyroscopes for indicating a direction in the horizontal plane, e.g. directional gyroscopes
- G01C19/38—Rotary gyroscopes for indicating a direction in the horizontal plane, e.g. directional gyroscopes with north-seeking action by other than magnetic means, e.g. gyrocompasses using earth's rotation
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/66—Sonar tracking systems
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- Radar, Positioning & Navigation (AREA)
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The present invention discloses a kind of indoor low cost aircraft localization method and device based on UT, comprising: three base stations are arranged in predeterminated position indoors；Three base stations are suspended from indoor roof and three base stations are in same level；The base station determines the position of aircraft according to the ultrasonic signal that aircraft issues.The invention discloses a kind of indoor Aerial vehicle position methods inexpensive, reusable, inexpensive based on UT ultrasonic wave, solving the problems, such as aircraft, test process cannot convenient acquisition azimuth information indoors, meanwhile also complying with demand when future aircraft high-volume general assembly test.
Description
Technical field
The present invention relates to unmanned vehicle technical fields.More particularly, to a kind of interior low cost flight based on UT
Device localization method and device.
Background technique
The inertial navigation feature strong according to its independence, becomes the important navigation system of current mainstream aircraft, is answered
Each military domain for aerospace navigation.The Initial Alignment Technique of inertial navigation system be inertial navigation important technology it
One, it is most of to be all made of outside reference introducing.
Currently, testing workshop in aircraft general assembly, in navigation test process, generally require to introduce for inertial navigation on aircraft
North orientation azimuth.Without satellite-signal in the space of sealing power house, substantially north orientation can only be provided using compass measurement, can not be given
Accurate north orientation azimuth out；If specially design gyroscope north searching measuring device, it is first that cost needs hundreds of thousands, and can not measure simultaneously
Multiple aircraft；If it is too high using high-precision north finder costs millions of easily, and professional is needed to operate.Seek the northern time
10 minutes are at least wanted, and decorating position requires height.
Limitation existing for north orientation benchmark is provided for existing aircraft general assembly test workshop.The invention proposes a kind of bases
In the indoor low cost aircraft localization method and device of UT.
Summary of the invention
The purpose of the present invention is to provide a kind of indoor low cost aircraft localization method based on UT, solves existing interior
The problem that Aerial vehicle position is at high cost, implementation is complicated for operation, measurable amount is limited.
In order to achieve the above objectives, the present invention adopts the following technical solutions:
A kind of indoor low cost aircraft localization method based on UT, comprising:
Three base stations are arranged in predeterminated position indoors；
Three base stations are suspended from indoor roof and three base stations are in same level；
The base station determines the position of aircraft according to the ultrasonic signal that aircraft issues.
Further, three base stations of the setting of predeterminated position indoors include:
Rectangular coordinate system in space is established indoors, and first base station is set to the origin of rectangular coordinate system in space；By second
A base station is set in X-direction, and is measured and first base station distance L1；
Third base station is set in Y direction, and keeps third base station and first base station distance L2 identical as L1.
Further, described three base stations to be suspended from indoor roof and three base stations include: in same level
Three movable hangers are arranged in roof indoors, and hook position is located at the surface of each base station；
Three base stations are suspended from behind roof respectively and three base station locations are accurately adjusted using gyroscope so that each
Base station location is corresponding with position when placing ground；
Using gyroscope measurement and mobile three base stations of vertical direction are so that three base stations are in same level on roof.
Further, the base station determines that the position of aircraft includes: according to the ultrasonic signal that aircraft issues
Different location in aircraft axial direction installs two ultrasonic transmitters and sends ultrasonic wave to three base stations respectively
Signal；
Azimuth, pitch angle and the distance of point-to-point transmission are calculated according to the position coordinates of two ultrasonic transmitters；
According to the azimuth for the aircraft being calculated and pitch angle information calculating aircraft at a distance from each base station.
Further, the base station includes gyroscope north searching total station.
One embodiment of the present of invention also discloses a kind of indoor low cost aircraft positioning device based on UT, comprising:
Three base stations include positioning unit in the base station, between calculation base station range information and with aircraft
Range information；
Three movable hangers, for three base stations being suspended from indoor roof and three base stations are in same level；
Gyroscope is set on the aircraft, for measuring azimuth and the pitch angle information of aircraft；
Ultrasonic transmitter is set on aircraft, for sending ultrasonic signal to the base station；
Timer is set on the base station, for calculating the time of ultrasonic signal propagation.
Further, the locating module is also used to establish rectangular coordinate system in space indoors, and first base station is set to
The origin of rectangular coordinate system in space；Second base station is set in X-direction, and is measured and first base station distance L1；
Third base station is set in Y direction, and keeps third base station and first base station distance L2 identical as L1.
Further, the base station location that the gyroscope is also used to be suspended from roof to three is accurately adjusted so that each
Base station location is corresponding with position when placing ground；Simultaneously mobile three base stations of vertical direction are measured so that three base stations are in roof
In same level.
Further, the quantity of the ultrasonic transmitter is two, is separately mounted to the different positions in aircraft axial direction
It sets, sends ultrasonic signal to the base station respectively, the timer is based on the received described in the calculating of ultrasonic signal time difference
Aircraft is at a distance from the base station.
Further, the base station includes gyroscope north searching total station.
Beneficial effects of the present invention are as follows:
Technical solution of the present invention discloses a kind of room inexpensive, reusable, inexpensive based on UT ultrasonic wave
Interior Aerial vehicle position method, solve the problems, such as aircraft indoors test process cannot convenient acquisition azimuth information, meanwhile,
Meet demand when future aircraft high-volume general assembly test.
Detailed description of the invention
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawing；
Fig. 1 is a kind of indoor low cost aircraft localization method flow chart based on UT；
Fig. 2 is a kind of indoor low cost aircraft localization method rectangular coordinate system in space schematic diagram based on UT；
Fig. 3 is movable hanger schematic diagram.
Specific embodiment
In order to illustrate more clearly of the present invention, the present invention is done further below with reference to preferred embodiments and drawings
It is bright.Similar component is indicated in attached drawing with identical appended drawing reference.It will be appreciated by those skilled in the art that institute is specific below
The content of description is illustrative and be not restrictive, and should not be limited the scope of the invention with this.
As shown in Figure 1, a kind of indoor low cost aircraft localization method based on UT disclosed by the invention, comprising:
Three base stations are arranged in S1, indoors predeterminated position；
S2, three base stations are suspended to indoor roof and three base stations are in same level；
S3, the base station determine the position of aircraft according to the ultrasonic signal that aircraft issues.
Specifically, S1 includes: three base stations of predeterminated position setting indoors；
Three base stations are suspended from indoor roof and three base stations are in same level；
The base station determines the position of aircraft according to the ultrasonic signal that aircraft issues.
General indoor positioning needs four or more base stations to realize, this method need to only be completed using three base stations.Base
The decorating position stood generally requires professional surveying and mapping group and carries out calibration measurement, needs to introduce coordinate from National Geodetic Datum point, need
It takes considerable time and cost, this method can complete autonomous operation calibration measurement by gyroscope north searching total station.
As shown in Fig. 2, be a kind of indoor low cost aircraft localization method rectangular coordinate system in space schematic diagram based on UT,
A rectangular coordinate system is established indoors, it is specified that good origin, X-axis, Y-axis and Z axis, and three base station BSs 1, BS2, BS3 are installed, if to
The target point of positioning is MS.
Firstly, enabling BS1 point is the origin of entire interior space coordinate system, only gyroscope north searching total station need to be set up in BS1
Point, i.e., BS1 is.BS1 is measured to BS2 distance, while using BS1 and BS2 two o'clock line as X-axis, i.e. BS2 is.
Then, it is rotated by 90 ° using BS1/BS2 line as axis, sets up BS3 in suitable position, measure BS1 to BS3 distance, with
BS1 and BS3 two o'clock line are Y-axis, i.e. BS3 is.
Finally, generally selecting indoor floor as this reference planes using BS1/BS2/BS3 as reference planes, gyroscope north searching is complete
90 ° of the upward pitching of instrument of standing are Z axis, and MS is.
The method is not necessarily to National Geodetic Datum without expending the actual physics coordinate that great amount of cost marks and draws three base stations
Point, it is only necessary to which measurement can be completed in a gyroscope north searching total station.
Three ultrasonic receivers are installed in three reference stations, movement station is ultrasonic transmitter, passes through ultrasonic wave system
System hardware means and software program measure distance a, b, c of target point and three reference points, calculate the coordinate value of target point, then
Have:
By above formula by the coordinate of the available M point of derivation are as follows:
Therefore, it is known that measure a, b, c, point M (X, Y, Z) can be obtained, to be translated into the 3D orientation problem of a point M
To 3 ranging problems that the space of points position is fixed.
S2, three base stations are suspended to indoor roof and three base stations are in same level；
Since gyroscope north searching total station is that ground uses equipment, three measured base sites are only limitted to again in a level
It is just able to satisfy the requirement of three base station measurements on face, then in aircraft general assembly test workshop, if base sites are located at ground, holds
It vulnerable to various interference and blocks, base station need to be set up in ceiling roof, it is fixed comprehensive could communicate with mobile station
Position.For this purpose, this method devises suspension type base station, base station is suspended on indoor roof using suspension mechanism.
Specifically, wherein dead ring can as shown in figure 3, suspension mechanism is made of dead ring, hanging ring chain and solid vertical
The micro-adjustment up and down of 0~50mm is carried out by fastening thread, the left and right micro-adjustment of 0~68mm, hanging ring chain is by several length
The hanging ring of 50mm forms.
Firstly, three suspension mechanism fastenings are laid out on about 90 ° of point with three in workshop ceiling roof, while solid
The decentralization of vertical, three points of ceiling roof, which are led to ground gyroscope north searching total station, to carry out on the horizontal plane of horizontal measurement,
It can guarantee approximate horizontal i.e. coarse regulation at this time by adjusting the hanging ring quantity of three suspended structures；
Secondly, by adjusting the top dead ring micro-adjustment screw thread, coming when being measured using gyroscope north searching total station
So that the vertical central point of three suspension mechanisms is in a horizontal plane and continuous angle is 90 °；
Finally, removing the hanging ring of equivalent amount on three suspension mechanisms according to practical workshop measuring condition, and base station is pacified
It loads onto, can be the mobile station service in entire workshop at this point, interference occlusion issue in base station ground can be solved.
S3, the base station determine the position of aircraft according to the ultrasonic signal that aircraft issues.
2 UT ultrasonic transmitters are installed on aircraft axial (aircraft is axial vertical with used group orientation normal), are obtained
1 point of location information (X1, Y1, Z1) of the upward two o'clock of shaft, extrapolates the relative positional relationship of point-to-point transmission by 2 points (X2, Y2, Z2)
Azimuth A, pitch angle E and distance D.Following formula changes the relative positional relationship (azimuth, pitch angle and distance) of two points
It calculates,
It can be obtained according to northern day east coordinate system and geocentric coordinate system transformational relation:
Wherein transition matrix T can be by 1 (X of installation point1,Y1,Z1) be converted to longitude and latitude high (lat, lon, h) and obtain:
t00=-sin (lat) × cos (lon)；
t01=-sin (lat) × sin (lon)；
t02=cos (lat)；
t10=-sin (lon)；
t11=cos (lon)；
t12=0；
t20=cos (lat) × cos (lon)；
t21=cos (lat) × sin (lon)；
t22=sin (lat)；
Azimuth A, pitch angle E and distance D can be extrapolated by northern day east coordinate system:
The initial orientation angle information of you can get it aircraft.
Since the positioning accuracy of various model aircraft requirements is all different, it is assumed that the position error of ultrasonic wave is N, axial
Installable baseline length is D, can show that Aerial vehicle position precision isSuch as N=0.2m, D=8m, then it flies
Device positioning accuracy is 1.4321 °.The conditions permit the case where, axial mountable baseline length is appropriately extended, not only can be improved
Aerial vehicle position precision, can also reduce the positioning accuracy request of ultrasonic wave, to reduce cost.Otherwise ultrasonic wave positioning accuracy
It is required that higher, base station number needs are multiplied, and sensor accuracy is higher.
In addition, also carrying out ranging using the time difference that radiofrequency signal and ultrasonic signal reach.
Specifically, if the radiofrequency signal time that base station receives movement station transmitting is TRF, receiving the ultrasonic signal time is
TUS, then two signals reach interval time TTDOA=TUS-TRF, it is known that the speed V of radiofrequency signalRFFor 3.0*108M/s, ultrasonic wave
Speed VUSAbout 344m/s.Base station according to two kinds of signals of measurement reach between it is poor, come the distance between calculation base station and movement station
S。
ByIt is derived by
Since the speed of radiofrequency signal is much larger than ultrasonic velocity, T is specifically being calculatedRFIt is similar to zero, so having.
The present invention provides the indoor Aerial vehicle position method inexpensive, reusable, inexpensive based on UT ultrasonic wave,
Solve the problems, such as aircraft indoors test process cannot convenient acquisition azimuth information, meanwhile, it is big to also comply with future aircraft
Demand when batch general assembly is tested.
It will be understood by those skilled in the art that embodiments herein can provide as method, apparatus (equipment) or computer
Program product.Therefore, in terms of the application can be used complete hardware embodiment, complete software embodiment or combine software and hardware
Embodiment form.Moreover, it wherein includes the meter of computer usable program code that the application, which can be used in one or more,
The computer journey implemented in calculation machine usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of sequence product.
The application is flow chart of the reference according to method, apparatus (equipment) and computer program product of the embodiment of the present application
And/or block diagram describes.It should be understood that each process in flowchart and/or the block diagram can be realized by computer program instructions
And/or the combination of the process and/or box in box and flowchart and/or the block diagram.It can provide these computer programs to refer to
Enable the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to generate
One machine so that by the instruction that the processor of computer or other programmable data processing devices executes generate for realizing
The device for the function of being specified in one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention may be used also on the basis of the above description for those of ordinary skill in the art
To make other variations or changes in different ways, all embodiments can not be exhaustive here, it is all to belong to this hair
The obvious changes or variations that bright technical solution is extended out are still in the scope of protection of the present invention.
Claims (10)
1. a kind of indoor low cost aircraft localization method based on UT characterized by comprising
Three base stations are arranged in predeterminated position indoors；
Three base stations are suspended from indoor roof and three base stations are in same level；
The base station determines the position of aircraft according to the ultrasonic signal that aircraft issues.
2. the method according to claim 1, wherein three base stations of the predeterminated position indoors setting include:
Rectangular coordinate system in space is established indoors, and first base station is set to the origin of rectangular coordinate system in space；By second base
It stands and is set in X-direction, and measure and first base station distance L1；
Third base station is set in Y direction, and keeps third base station and first base station distance L2 identical as L1.
3. the method according to claim 1, wherein described be suspended from indoor roof and three base stations for three base stations
Include: in same level
Three movable hangers are arranged in roof indoors, and hook position is located at the surface of each base station；
Three base stations are suspended from behind roof respectively, three base station locations are accurately adjusted so that each base station using gyroscope
Position is corresponding with position when placing ground；
Using gyroscope measurement and mobile three base stations of vertical direction are so that three base stations are in same level on roof.
4. the method according to claim 1, wherein the base station is true according to the ultrasonic signal that aircraft issues
The position for determining aircraft includes:
Different location in aircraft axial direction installs two ultrasonic transmitters and sends ultrasonic signal to three base stations respectively；
Azimuth, pitch angle and the distance of point-to-point transmission are calculated according to the position coordinates of two ultrasonic transmitters；
According to the azimuth for the aircraft being calculated and pitch angle information calculating aircraft at a distance from each base station.
5. the method according to claim 1, wherein the base station includes gyroscope north searching total station.
6. a kind of indoor low cost aircraft positioning device based on UT characterized by comprising
Three base stations include positioning unit in the base station, for the range information between calculation base station and at a distance from aircraft
Information；
Three movable hangers, for three base stations being suspended from indoor roof and three base stations are in same level；
Gyroscope is set on the aircraft, for measuring azimuth and the pitch angle information of aircraft；
Ultrasonic transmitter is set on aircraft, for sending ultrasonic signal to the base station；
Timer is set on the base station, for calculating the time of ultrasonic signal propagation.
7. device according to claim 6, which is characterized in that the locating module is also used to establish space right-angle indoors
First base station is set to the origin of rectangular coordinate system in space by coordinate system；Second base station is set in X-direction, and is measured
Out with first base station distance L1；Third base station is set in Y direction, and makes third base station and first base station
Distance L2 is identical as L1.
8. device according to claim 6, which is characterized in that the gyroscope is also used to be suspended from three the base station on roof
Position is accurately adjusted so that each base station location is corresponding with position when placing ground；It measures and vertical direction is three mobile
Base station is so that three base stations are in same level on roof.
9. device according to claim 6, which is characterized in that the quantity of the ultrasonic transmitter is two, is pacified respectively
Different location in aircraft axial direction sends ultrasonic signal to the base station respectively, and the timer is based on the received
The ultrasonic signal time difference calculates the aircraft at a distance from the base station.
10. device according to claim 6, which is characterized in that the base station includes gyroscope north searching total station.
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Application publication date: 20190910 |