CN110244308B - Laser sensor suitable for height and attitude determination of unmanned aerial vehicle and working method thereof - Google Patents
Laser sensor suitable for height and attitude determination of unmanned aerial vehicle and working method thereof Download PDFInfo
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- CN110244308B CN110244308B CN201910510937.6A CN201910510937A CN110244308B CN 110244308 B CN110244308 B CN 110244308B CN 201910510937 A CN201910510937 A CN 201910510937A CN 110244308 B CN110244308 B CN 110244308B
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
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- G01S17/08—Systems determining position data of a target for measuring distance only
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Abstract
The invention discloses a laser sensor suitable for measuring height and positioning posture of an unmanned aerial vehicle, which comprises a transmitting lens, a first pulse laser diode, a second pulse laser diode, a third pulse laser diode, a 3-channel parallel driving circuit, a time sequence control circuit, a laser echo receiving lens, a first photoelectric converter, a second photoelectric converter, a third photoelectric converter, a 3-channel parallel signal amplifying and identifying circuit, a 3-channel parallel high-precision time-digital conversion circuit and a height calculating and posture determining module. The device is used for obtaining distance information between the unmanned aerial vehicle and the three ground reference positions, the height and flight attitude information of the unmanned aerial vehicle is obtained through a special algorithm based on the space geometry and analytic geometry theory, the limitations of large measurement error, high calculation result delay, high calculation force requirement, complex programming and the like in the prior art are overcome, and the device has the advantages of small device, high stability and real-time performance, high measurement resolution, low power consumption, low calculation force requirement and the like.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, laser detection, signal processing and navigation, in particular to a laser sensor suitable for height and attitude determination of an unmanned aerial vehicle and a working method thereof.
Background
In recent years, unmanned aerial vehicles have had very extensive application in fields such as military affairs, civilian, scientific research gradually, especially rotor unmanned aerial vehicle has characteristics such as small, simple structure, control convenience, can carry out complicated task in narrow and small space.
The rotor unmanned aerial vehicle is a typical under-actuated system, has multivariable, strong coupling, nonlinear and other characteristics's system, and the subject of involving moreover is numerous, and the field is very extensive, and flight in-process state is complicated. Synthesize above-mentioned problem, rotor unmanned aerial vehicle's height finding and appearance of deciding have very big difficulty.
Most of the existing unmanned aerial vehicle height measurement sensor systems utilize traditional GPS, barometers, accelerometers and other sensors to read height data. Some of the drawbacks of these conventional sensors themselves are however particularly evident in rotorcraft systems that require high precision and real-time. The measurement of the barometer can be influenced by atmospheric fluctuation, which causes the measurement value of the barometer to have larger error fluctuation, the GPS is passively positioned and can be influenced by the turn-off of a GPS system to have faults, and the accelerometer can have integral drift along with the lengthening of the measurement time.
Disclosure of Invention
The invention aims to provide a laser sensor suitable for measuring height and determining attitude of an unmanned aerial vehicle and a working method thereof, which can overcome the limitations of large measurement error, high calculation result delay, complex algorithm programming and the like in the prior art and have the advantages of strong stability, high measurement resolution, strong real-time performance, simple algorithm and the like.
In order to achieve the purpose, the invention provides a laser sensor suitable for height and attitude measurement of an unmanned aerial vehicle, which is installed on the unmanned aerial vehicle, by combining with a figure 1.
The laser sensor comprises a transmitting lens, a first pulse laser diode, a second pulse laser diode, a third pulse laser diode, a 3-channel parallel driving circuit, a time sequence control circuit, a laser echo receiving lens, a first photoelectric converter, a second photoelectric converter, a third photoelectric converter, a 3-channel parallel signal amplifying and identifying circuit, a 3-channel parallel high-precision time-digital conversion circuit and a height calculating and attitude determining module.
And the first pulse laser diode, the second pulse laser diode and the third pulse laser diode are connected with a 3-channel parallel driving circuit.
The first photoelectric converter, the second photoelectric converter and the third photoelectric converter are all connected with the input end of the 3-channel parallel signal amplification and discrimination circuit; the output end of the 3-channel parallel signal amplifying and identifying circuit is connected with the input end of the 3-channel parallel high-precision time-digital conversion circuit; and the output end of the 3-path parallel high-precision time-digital conversion circuit and the height calculation are connected with the attitude determination module.
The sequential control circuit is connected with the 3-channel parallel driving circuit, the 3-channel parallel high-precision time-digital conversion circuit and the height and attitude calculation module.
The first pulse laser diode, the second pulse laser diode and the third pulse laser diode are positioned in a focal plane of the transmitting lens and distributed in an equilateral triangle by taking the focal point of the transmitting lens as the center.
The first photoelectric converter, the second photoelectric converter and the third photoelectric converter are positioned in a focal plane of the laser echo receiving lens, and receiving view fields formed by the first photoelectric converter, the second photoelectric converter and the third photoelectric converter through the laser echo receiving lens respectively cover transmitting view fields formed by the first pulse laser diode, the second pulse laser diode and the third pulse laser diode through the transmitting lens.
The first pulse laser diode, the second pulse laser diode and the third pulse laser diode synchronously send three laser signals to three laser landing positions under the action of the time sequence control circuit, the generated three laser echo signals are respectively received by the first photoelectric converter, the second photoelectric converter and the third photoelectric converter, and then are amplified and shaped by the 3-channel parallel signal amplification and discrimination circuit, and the distance data of the laser sensor and three laser landing positions are calculated by the 3 paths of parallel high-precision time-digital conversion circuits, the calculated distance data are sent to a height calculation and attitude determination module, the height calculation and attitude determination module is combined with the relative positions of the laser sensor and the unmanned aerial vehicle, and the distance from the unmanned aerial vehicle to the ground and the flight attitude parameters of the unmanned aerial vehicle are calculated.
Wherein the flight attitude parameters of the unmanned aerial vehicle comprise a pitch angle gamma and a roll angle
Defining a plane formed by three laser landed points as a measuring point plane, wherein a pitch angle gamma is an included angle between a longitudinal axis of the unmanned aerial vehicle and the measuring point plane, and a roll angle
The included angle between the transverse axis of the unmanned aerial vehicle and the plane of the measuring point.
Further, the laser sensor further comprises a 3-channel gain control circuit.
The first photoelectric converter, the second photoelectric converter and the third photoelectric converter are all connected with the output end of the 3-channel gain control circuit; and the time sequence control circuit is connected with the 3-channel gain control circuit.
The 3-channel gain control circuit is used for controlling the gain values of three laser echo receiving channels of the first photoelectric converter, the second photoelectric converter and the third photoelectric converter.
Based on the laser sensor, the invention also provides a working method of the laser sensor suitable for measuring height and positioning posture of the unmanned aerial vehicle, and the working method comprises the following steps:
s1: and the first pulse laser diode, the second pulse laser diode and the third pulse laser diode synchronously emit three laser signals to three laser landing positions through the time sequence control circuit.
S2: obtaining the distances h from the first pulse laser diode, the second pulse laser diode and the third pulse laser diode to the three laser landing positions1、h2And h3。
S3: defining a plane formed by three laser landed points as a measuring point plane, calculating to obtain the distance from the unmanned aerial vehicle to the ground and flight attitude parameters of the unmanned aerial vehicle by combining the relative positions of the laser sensor and the unmanned aerial vehicle, wherein the flight attitude parameters comprise the height h of the unmanned aerial vehicle perpendicular to the measuring point plane, and a pitch angle gamma and a roll angle for describing the attitude of the unmanned aerial vehicle
S31: an xyz space coordinate system is established by taking an emission lens in a laser sensor as a coordinate origin, an xoy plane is parallel to a plane of the unmanned aerial vehicle, namely, a plane determined by three laser diodes, an x axis is parallel to one side of an equilateral triangle formed by a first pulse laser diode and a second pulse laser diode, the positive direction of the y axis is the same as the advancing direction of the unmanned aerial vehicle, and the projection of a third pulse laser diode just falls on the y axis; the z axis coincides with the optical axis of the laser sensor and the positive direction of the z axis faces the ground, and the z axis passes through the orthocenter of the equilateral triangle.
S32: under the space coordinate system, the coordinates (x) of 3 laser landing points on the ground are obtained1，y1，z1)、(x2，y2，z2)、(x3，y3，z3) Respectively as follows:
wherein, theta is an included angle between every two of 3 beams of ranging beams emitted by the 3 pulse laser diodes.
S33: setting the normal vector of the plane of the unmanned aerial vehicle as (0, 0, 1), the longitudinal axis direction vector of the unmanned aerial vehicle as (0, 1, 0), and the transverse axis direction vector of the unmanned aerial vehicle as (1, 0, 0), and calculating to obtain the normal vector of the measuring point plane
Comprises the following steps:
s34: the sum of gamma is derived from the space geometric formula
Comprises the following steps:
the measurement height h of the unmanned aerial vehicle is as follows:
in the present invention, the lidar sensor assembly does not directly measure its height from the ground, since the determination and adjustment of the attitude is a more critical item than altimetry. In the invention, firstly, the distance between the unmanned aerial vehicle and three ground reference positions is obtained by using a detector, then, a relation equation between target parameters and known quantity and measurement is obtained by using theoretical knowledge of space geometry and analytic geometry, and finally, the height data and flight attitude information of the unmanned aerial vehicle are obtained.
Compared with the prior art, the technical scheme of the invention has the following remarkable beneficial effects:
(1) the sensor device adopts the laser diode as a signal source, has the advantages of high resolution, strong anti-interference capability, good low-altitude detection performance, small volume, light weight and the like, and is very suitable for being applied to the detection of the small unmanned aerial vehicle.
(2) Compared with the traditional unmanned aerial vehicle height detection device such as a GPS, a barometer, an accelerometer and the like, the unmanned aerial vehicle height detection device has obvious advantages in the aspects of measurement error, stability and real-time performance, and the real-time flight attitude of the unmanned aerial vehicle can be obtained by combining the algorithm provided by the invention, so that the flight control of the unmanned aerial vehicle is more accurate, and the stability of an aircraft is better ensured.
(3) The algorithm adopted by the invention is realized on the basis of space geometry and analytic geometry, the calculation precision is high, the calculation amount of the algorithm is small, the programming is simple, the requirement on a processor is not high, and the better cost control can be realized on the basis of miniaturization and light weight of the existing unmanned aerial vehicle.
It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of this disclosure unless such concepts are mutually inconsistent. In addition, all combinations of claimed subject matter are considered a part of the presently disclosed subject matter.
The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of specific embodiments in accordance with the teachings of the present invention.
Drawings
The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
fig. 1 is a schematic structural diagram of a laser sensor suitable for height and attitude determination of an unmanned aerial vehicle according to the present invention.
Fig. 2 is a diagram showing a distribution of positions of a pulse laser diode and a reflection lens in a laser sensor suitable for measuring height and positioning posture of an unmanned aerial vehicle according to the present invention.
Fig. 3 is a simplified model diagram of the working method of the laser sensor suitable for measuring height and determining attitude of the unmanned aerial vehicle.
Fig. 4 is a schematic diagram of a coordinate system established in the working method of the laser sensor suitable for measuring height and determining attitude of the unmanned aerial vehicle.
Fig. 5 is a flight attitude definition diagram in the working method of the laser sensor suitable for measuring height and determining attitude of the unmanned aerial vehicle.
Fig. 6 is a geometric equivalent diagram in the working method of the laser sensor suitable for measuring height and determining attitude of the unmanned aerial vehicle.
Fig. 7 is a calculation model diagram in the working method of the laser sensor suitable for measuring height and determining attitude of the unmanned aerial vehicle of the invention.
Detailed Description
In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.
With reference to fig. 1 and 2, the invention provides a laser sensor suitable for height and attitude measurement of an unmanned aerial vehicle, which comprises an emission lens 1, a first pulse laser diode 2, a second pulse laser diode 3, a third pulse laser diode 4, a 3-channel parallel driving circuit 5, a time sequence control circuit 6, a laser echo receiving lens 7, a first photoelectric converter 8, a second photoelectric converter 9, a third photoelectric converter 10, a 3-channel parallel signal amplification and identification circuit 11, a 3-channel gain control circuit 12, a 3-channel parallel high-precision time-digital conversion circuit 13, a height calculation and attitude determination module 14 and an unmanned aerial vehicle 15. The first pulse laser diode 2, the second pulse laser diode 3 and the third pulse laser diode 4 are positioned in a focal plane of the transmitting lens 1, the first photoelectric converter 8, the second photoelectric converter 9 and the third photoelectric converter 10 are positioned in a focal plane of the laser echo receiving lens 7, the transmitting lens 1 is parallel to an optical axis of the laser echo receiving lens 7, the first photoelectric converter 8, the second photoelectric converter 9 and the third photoelectric converter 10 are in one-to-one correspondence with the first pulse laser diode 2, the second pulse laser diode 3 and the third pulse laser diode 4, and a receiving visual field of the photoelectric converters is ensured to cover transmitting light spots of the pulse laser diodes.
The first pulse laser diode 2, the second pulse laser diode 3 and the third pulse laser diode 4 are all connected with a 3-channel parallel driving circuit 5; the first photoelectric converter 8, the second photoelectric converter 9 and the third photoelectric converter 10 are all connected with the input of the 3-channel parallel signal amplification and discrimination circuit 11 and the output of the 3-channel gain control circuit 12; the output of the 3-channel parallel signal amplifying and discriminating circuit 11 is connected with the input of the 3-channel parallel high-precision time-digital conversion circuit 13; the output and height calculation of the 3-path parallel high-precision time-digital conversion circuit 13 are connected with an attitude determination module 14; the time sequence control circuit 6 is connected with the 3-channel parallel drive circuit 5, the 3-channel gain control circuit 12, the 3-channel parallel high-precision time-digital conversion circuit 13 and the height calculation and attitude determination module 14; and finally, fixing the laser sensor consisting of 1-14 on the unmanned aerial vehicle 15.
The 3-channel parallel signal amplifying and discriminating circuit 11 is composed of a preamplification circuit, a pulse shaping circuit and a signal preprocessing circuit which are connected in sequence.
3 laser diodes (including a first pulse laser diode 2, a second pulse laser diode 3 and a third pulse laser diode 4) are adopted as laser light-emitting sources, and a time sequence control circuit enables the laser diodes to synchronously emit three beams of light; 3 photoelectric converters (including a first photoelectric converter 8, a second photoelectric converter 9 and a third photoelectric converter 10) are adopted as a laser echo receiving device; the 3-channel laser echo signals are amplified and shaped by a 3-channel parallel signal amplification and identification circuit; then 3 parallel high-precision time-digital conversion circuits accurately give 3 paths of distance data; and finally, calculating the distance from the unmanned aerial vehicle to the ground and the inclination angle of the unmanned aerial vehicle by a height calculation and attitude determination module.
In the present embodiment, 3 laser diodes (including the first pulse laser diode 2, the second pulse laser diode 3, and the third pulse laser diode 4) are near-infrared laser diodes of the OSRAM corporation; the 3 photoelectric converters (including the first photoelectric converter 8, the second photoelectric converter 9, and the third photoelectric converter 10) are InGaAs photodiodes of HAMAMATSU corporation; the amplifying circuit in the 3-channel parallel signal amplifying and discriminating circuit is a transimpedance amplifying circuit, the chip is LTC6560, the pulse shaping circuit is 3 high-speed comparators, and the signal preprocessing circuit is a programmable logic device of ALTERA company; the 3-path parallel high-precision time-digital conversion circuit is a TDC-GPX time-digital conversion chip of ACAM company.
With reference to fig. 3, 4, 5, 6, and 7, a detailed description will be given of a working method of a laser sensor suitable for height and attitude determination of an unmanned aerial vehicle according to the present invention.
Simplifying the practical problem and being equivalent to a triangular pyramid as shown in fig. 3. An xyz-space coordinate system is established with the emission lens 1 in the laser sensor as the origin of coordinates, as shown in fig. 4. The xoy plane is parallel to the plane of the unmanned aerial vehicle, namely the plane determined by the three laser diodes, the x axis is parallel to one side of an equilateral triangle formed by the first pulse laser diode 2 and the second pulse laser diode 3, the positive direction of the y axis is the same as the advancing direction of the unmanned aerial vehicle, and the projection of the third pulse laser diode 4 just falls on the y axis; the z axis coincides with the optical axis of the laser sensor and the positive direction of the z axis faces the ground, and the z axis passes through the orthocenter of the equilateral triangle. A represents the shot and B, C, D represents the three station locations on the ground, respectively, as shown in FIG. 5. An isosceles triangular pyramid ALMN is taken over the triangular pyramid ABCD as shown in figure 6. The plane LMN is parallel to the focal plane of the transmitting lens, and the included angle between every two straight lines AB, AC and AD is theta. The projection of point A on the plane LMN is O1Projection on the plane BCD is O2The x-axis is parallel to the line MN and the y-axis is the line O1L is parallel, z-axis is parallel to straight line AO1Coincident, straight line AO1Coinciding with the main optical axis of the transmit lens 1. LMN isEquilateral triangle, O1For the center of gravity, for the convenience of calculation, AN is equal to AM and AL is equal to 1. After the laser echo signal is processed, the distance from A to the reference position B is measured to be h1Distance h to point C2Distance h from point D3。
From the cosine theorem we can obtain:
let AO1The included angle with AN is α:
the relationship between α and θ is:
AO1the length of (A) is as follows:
l, M, N the three-point coordinates are:
point L, M, N is on lines AD, AB and AC, from which B, C, D three point coordinates are found:
vector quantity
Is expressed as:
vector quantity
Is expressed as:
set up normal vector of measurement point plane BCD
Is (m, n, 1)
Solving the equation to obtain
Is expressed as:
unmanned aerial vehicle's flight attitude available pitch angle gamma and roll angle
Definition, pitch angle gamma is unmanned aerial vehicle longitudinalAngle between axis and plane of measuring point, angle of roll
Is the included angle between the horizontal axis of the unmanned plane and the plane of the measuring point, as shown in figure 5. Wherein, the unmanned aerial vehicle axis of ordinates is parallel with coordinate system y axle, and unmanned aerial vehicle cross axle x axle is parallel, then unmanned aerial vehicle axis of ordinates direction vector
Has coordinates of (0, 1, 0) and vector in horizontal axis direction
Is (1, 0, 0), and can be obtained according to the space geometric knowledge:
substituting the coordinates can yield:
then the flight attitude of unmanned aerial vehicle is:
let vector quantity
And
has an included angle of β, as shown in FIG. 5
the measurement height is defined as: the vertical distance between the transmitting lens 1 in the laser sensor and the measuring point plane is marked as h and a line segment AO2The length of (b) is the measurement height of the unmanned aerial vehicle:
substituting the coordinates can obtain:
in this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily defined to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any one implementation. In addition, some aspects of the present disclosure may be used alone, or in any suitable combination with other aspects of the present disclosure.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.
Claims (10)
1. The laser sensor is suitable for height and attitude measurement of the unmanned aerial vehicle, and is characterized in that the laser sensor is installed on the unmanned aerial vehicle (15);
the laser sensor comprises a transmitting lens (1), a first pulse laser diode (2), a second pulse laser diode (3), a third pulse laser diode (4), a 3-channel parallel driving circuit (5), a time sequence control circuit (6), a laser echo receiving lens (7), a first photoelectric converter (8), a second photoelectric converter (9), a third photoelectric converter (10), a 3-channel parallel signal amplifying and identifying circuit (11), a 3-channel parallel high-precision time-digital conversion circuit (13) and a height calculating and attitude determining module (14);
the first pulse laser diode (2), the second pulse laser diode (3) and the third pulse laser diode (4) are connected with a 3-channel parallel driving circuit (5);
the first photoelectric converter (8), the second photoelectric converter (9) and the third photoelectric converter (10) are all connected with the input end of a 3-channel parallel signal amplification and discrimination circuit (11); the output end of the 3-channel parallel signal amplification and discrimination circuit (11) is connected with the input end of the 3-channel parallel high-precision time-digital conversion circuit (13); the output end and the height calculation of the 3-path parallel high-precision time-digital conversion circuit (13) are connected with a posture determination module (14);
the time sequence control circuit (6) is connected with the 3-channel parallel driving circuit (5), the 3-channel parallel high-precision time-digital conversion circuit (13) and the height calculation and attitude determination module (14);
the first pulse laser diode (2), the second pulse laser diode (3) and the third pulse laser diode (4) are positioned in a focal plane of the emission lens (1) and distributed in an equilateral triangle by taking a focal point of the emission lens (1) as a center;
the first photoelectric converter (8), the second photoelectric converter (9) and the third photoelectric converter (10) are positioned in a focal plane of the laser echo receiving lens (7), and a receiving view field formed by the laser echo receiving lens (7) respectively covers an emission view field formed by the first pulse laser diode (2), the second pulse laser diode (3) and the third pulse laser diode (4) through the emission lens (1);
the first pulse laser diode (2), the second pulse laser diode (3) and the third pulse laser diode (4) synchronously send three laser signals to three laser landing points under the action of a time sequence control circuit, after three generated laser echo signals are respectively received by a first photoelectric converter (8), a second photoelectric converter (9) and a third photoelectric converter (10), the three laser echo signals are amplified, sorted and identified by a 3-channel parallel signal amplification and identification circuit (11) and are sent to a 3-channel parallel high-precision time-digital conversion circuit (13), the 3-channel parallel high-precision time-digital conversion circuit (13) calculates distance data between a laser sensor and the three laser landing points, the calculated distance data is sent to a height calculation and attitude determination module (14), and the height calculation and attitude determination module (14) combines the relative positions of the laser sensor and an unmanned aerial vehicle, calculating to obtain the distance information from the unmanned aerial vehicle to the ground and the flight attitude parameters of the unmanned aerial vehicle;
the process of calculating the distance information from the unmanned aerial vehicle to the ground and the flight attitude parameters of the unmanned aerial vehicle comprises the following steps:
s1: through a time sequence control circuit, a first pulse laser diode (2), a second pulse laser diode (3) and a third pulse laser diode (4) synchronously send three laser signals to three laser landing points, wherein the three laser landing points are respectively defined as a measuring point B, a measuring point C and a measuring point D;
s2: the distances from the first pulse laser diode (2), the second pulse laser diode (3) and the third pulse laser diode (4) to the corresponding laser landing positions are respectively h1、h2And h3Wherein h is1Is the distance h from the first pulse laser diode (2) to the measuring point B2Is the distance h from the second pulse laser diode (3) to the measuring point C3The distance from the third pulse laser diode (4) to a measuring point D;
s3: defining a plane formed by three laser landing points as a measuring point plane, and calculating the distance from the unmanned aerial vehicle (15) to the ground and the flight attitude parameters of the unmanned aerial vehicle (15) by combining the relative positions of the laser sensor and the unmanned aerial vehicle (15), wherein the flight attitude parameters compriseThe height h of the unmanned plane (15) perpendicular to the measuring point plane and the pitch angle gamma and the roll angle for describing the posture of the unmanned plane
S31: an xyz space coordinate system is established by taking an emission lens in a laser sensor as a coordinate origin, an xoy plane is parallel to a plane of the unmanned aerial vehicle, namely, a plane determined by three laser diodes, an x axis is parallel to one side of an equilateral triangle formed by a first pulse laser diode (2) and a second pulse laser diode (3), the positive direction of the y axis is the same as the advancing direction of the unmanned aerial vehicle, and the projection of a third pulse laser diode (4) just falls on the y axis; the z axis is superposed with the optical axis of the laser sensor and faces the ground in the positive direction, and the z axis passes through the orthocenter of the equilateral triangle;
s32: under the space coordinate system, the coordinates (x) of 3 laser landing points on the ground are obtained1，y1，z1)、(x2，y2，z2)、(x3，y3，z3) Respectively as follows:
wherein theta is an included angle between every two of 3 beams of ranging light beams emitted by 3 pulse laser diodes;
s33: setting the normal vector of the plane of the unmanned aerial vehicle as (0, 0, 1), the longitudinal axis direction vector of the unmanned aerial vehicle as (0, 1, 0), and the transverse axis direction vector of the unmanned aerial vehicle as (1, 0, 0), and calculating to obtain the normal vector of the measuring point plane
Comprises the following steps:
s34: the sum of gamma is derived from the space geometric formula
Comprises the following steps:
the measurement height h of the unmanned aerial vehicle is as follows:
2. the laser sensor suitable for unmanned aerial vehicle height and attitude determination of claim 1, further comprising a 3-channel gain control circuit (12);
the first photoelectric converter (8), the second photoelectric converter (9) and the third photoelectric converter (10) are all connected with the output end of the 3-channel gain control circuit (12); the time sequence control circuit (6) is connected with the 3-channel gain control circuit (12);
the 3-channel gain control circuit (12) is used for controlling the gain values of three laser echo receiving channels of the first photoelectric converter (8), the second photoelectric converter (9) and the third photoelectric converter (10).
3. The laser sensor suitable for unmanned aerial vehicle height and attitude measurement and determination is characterized in that the transmitting lens (1) is parallel to the optical axis of the laser echo receiving lens (7), and the first photoelectric converter (8), the second photoelectric converter (9) and the third photoelectric converter (10) are in one-to-one correspondence with the first pulse laser diode (2), the second pulse laser diode (3) and the third pulse laser diode (4).
4. The laser sensor suitable for unmanned aerial vehicle height and attitude determination of claim 1, wherein an optical axis of the laser sensor coincides with a normal of the unmanned aerial vehicle and faces the ground;
the distance measuring light beam formed by the third pulse laser diode (4) and the emitting lens (1) is in a plane formed by the axis and the normal of the unmanned aerial vehicle, and the connecting line of the second pulse laser diode (3) and the third pulse laser diode (4) is vertical to the plane.
5. The laser sensor suitable for unmanned aerial vehicle altimetry and attitude determination as claimed in claim 1, wherein the flight attitude parameters of the unmanned aerial vehicle comprise a pitch angle γ and a roll angle
Defining a plane formed by three laser landed points as a measuring point plane, wherein a pitch angle gamma is an included angle between a longitudinal axis of the unmanned aerial vehicle and the measuring point plane, and a roll angle
The included angle between the transverse axis of the unmanned aerial vehicle and the plane of the measuring point.
6. The laser sensor suitable for unmanned aerial vehicle height and attitude determination of claim 1, wherein the 3-channel parallel signal amplification and discrimination circuit (11) comprises a preamplification circuit, a pulse shaping circuit and a signal preprocessing circuit which are connected in sequence.
7. The laser sensor suitable for unmanned aerial vehicle height and attitude determination of claim 6, wherein the pre-amplifier circuit is a transimpedance amplifier circuit, and the chip comprises LTC 6560;
the pulse shaping circuit comprises 3 high-speed comparators;
the signal preprocessing circuit includes a programmable logic device.
8. The laser sensor suitable for unmanned aerial vehicle height and attitude determination according to claim 1, wherein the 3-way parallel high-precision time-to-digital conversion circuit (13) comprises a TDC-GPX time-to-digital conversion chip.
9. The laser sensor suitable for unmanned aerial vehicle height and attitude determination according to claim 1, wherein the first pulse laser diode (2), the second pulse laser diode (3) and the third pulse laser diode (4) adopt near-infrared laser diodes;
the first photoelectric converter (8), the second photoelectric converter (9) and the third photoelectric converter (10) adopt InGaAs photodiodes.
10. A working method of a laser sensor suitable for height and attitude determination of an unmanned aerial vehicle is characterized by comprising the following steps:
s1: through a time sequence control circuit, a first pulse laser diode (2), a second pulse laser diode (3) and a third pulse laser diode (4) synchronously send three laser signals to three laser landing points, wherein the three laser landing points are respectively defined as a measuring point B, a measuring point C and a measuring point D;
s2: the distances from the first pulse laser diode (2), the second pulse laser diode (3) and the third pulse laser diode (4) to the corresponding laser landing positions are respectively h1、h2And h3Wherein h is1Is the distance h from the first pulse laser diode (2) to the measuring point B2Is the distance h from the second pulse laser diode (3) to the measuring point C3The distance from the third pulse laser diode (4) to a measuring point D;
s3: defining a plane formed by three laser landed points as a measuring point plane, calculating the distance from the unmanned aerial vehicle (15) to the ground and flight attitude parameters of the unmanned aerial vehicle (15) by combining the relative positions of the laser sensor and the unmanned aerial vehicle (15), wherein the flight attitude parameters comprise the height h of the unmanned aerial vehicle (15) perpendicular to the measuring point plane and the description of the attitude of the unmanned aerial vehiclePitch angle gamma and roll angle of
S31: an xyz space coordinate system is established by taking an emission lens in a laser sensor as a coordinate origin, an xoy plane is parallel to a plane of the unmanned aerial vehicle, namely, a plane determined by three laser diodes, an x axis is parallel to one side of an equilateral triangle formed by a first pulse laser diode (2) and a second pulse laser diode (3), the positive direction of the y axis is the same as the advancing direction of the unmanned aerial vehicle, and the projection of a third pulse laser diode (4) just falls on the y axis; the z axis is superposed with the optical axis of the laser sensor and faces the ground in the positive direction, and the z axis passes through the orthocenter of the equilateral triangle;
s32: under the space coordinate system, the coordinates (x) of 3 laser landing points on the ground are obtained1，y1，z1)、(x2，y2，z2)、(x3，y3，z3) Respectively as follows:
wherein theta is an included angle between every two of 3 beams of ranging light beams emitted by 3 pulse laser diodes;
s33: setting the normal vector of the plane of the unmanned aerial vehicle as (0, 0, 1), the longitudinal axis direction vector of the unmanned aerial vehicle as (0, 1, 0), and the transverse axis direction vector of the unmanned aerial vehicle as (1, 0, 0), and calculating to obtain the normal vector of the measuring point plane
Comprises the following steps:
s34: the sum of gamma is derived from the space geometric formula
Comprises the following steps:
the measurement height h of the unmanned aerial vehicle is as follows:
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