CN110427050A - A kind of holder automatic following system based on Differential positioning orientation - Google Patents
A kind of holder automatic following system based on Differential positioning orientation Download PDFInfo
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- CN110427050A CN110427050A CN201910846373.3A CN201910846373A CN110427050A CN 110427050 A CN110427050 A CN 110427050A CN 201910846373 A CN201910846373 A CN 201910846373A CN 110427050 A CN110427050 A CN 110427050A
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- holder
- differential
- system based
- automatic following
- following system
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- 238000000034 method Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 abstract description 5
- 230000036039 immunity Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of holder automatic following systems based on Differential positioning orientation, including GNSS differential receivers, operation control module and holder, the GNSS differential receivers are connected with operation control module by first serial, and the operation control module is connected with holder by second serial.Present invention utilizes GNSS positioning and directing principles, using trigonometric function, the principle for dividing quadrant, calculating angle relative difference, realize it is a kind of based on Differential positioning orientation holder follow scheme automatically, it can be widely applied to the fields such as monitoring, counter, it can be used without calibration, it can complete the high-precision of holder to follow automatically, and strong interference immunity.
Description
Technical field
Follow technical field automatically the present invention relates to holder, specially a kind of holder based on Differential positioning orientation automatically with
With system.
Background technique
Holder automatic following system is used exclusively for following the system of low target, in fields such as monitoring, unmanned plane counters
It has a wide range of applications.When target appears in air control region, front end monitoring objective can capture the position of target, and to
Holder automatic following system issues instruction, and then holder will drive load and follow automatically, make load alignment target.However, to
So that holder is accurately followed target, then needs to obtain the current course angle of holder in real time, holder is judged by the azimuth of holder
Whether target is had been targeted by.In the prior art, angle measurement generally is carried out to holder using gyro sensor.But top
The calibrating mode of spiral shell instrument sensor, which is generally a people, to be had equipment original place in arms and draws circle, for this clouds terrace system biggish for weight
It is not readily accomplished.And gyro sensor is highly prone to interfere, and often will appear error in practical applications, influence using.
To overcome the above deficiency, the invention proposes a kind of holder automatic following system based on Differential positioning orientation, mesh
Be to allow holder not need calibration to complete high-precision to follow function.The present invention has strong antijamming capability, does not need
Calibration, the features such as precision is high can break through field in monitoring, unmanned plane extensively.
Summary of the invention
The purpose of the present invention is to provide a kind of holder automatic following systems based on Differential positioning orientation, are without calibration
It can be used, the high-precision of holder can be completed and followed automatically, and strong interference immunity, to solve to propose in above-mentioned background technique
The problem of.
To achieve the above object, the invention provides the following technical scheme: a kind of holder based on Differential positioning orientation is automatic
System for tracking, including GNSS differential receivers, operation control module and holder, the GNSS differential receivers and operation control mould
Block is connected by first serial, and the operation control module is connected with holder by second serial.
Preferably, the GNSS differential receivers are used for holder positioning and directing.
Preferably, the holder side is equipped with target, calculates the line of holder and target and the angle of direct north.
Preferably, the holder side is equipped with initial reference point, and the course angle of the initial reference point connects with GNSS difference
The course angle that receipts machine is got is identical always.
Preferably, the calculation process module calculates the difference between two angles, calculation process module according to the difference to
Holder issues the instruction of rotation direction and rotational angle, and holder executes the instruction followed automatically.
Preferably, the GNSS differential receivers, operation control module and holder composition system application when do not need into
Row bearing calibration, powering on can be used.
Preferably, the GNSS differential received function receives BDS, B1/B2, GPS, L1/L2/L5, GLONASS, L1/ simultaneously
L2/L3 and GalileoE1/E5 supports double antenna to carry out positioning direction finding and resolve, can accurately judge mobile vehicle
Position, speed and course information, centimeter-level positioning precision, direction finding precision are better than 0.09 ° (2m baseline), while data output frequencies
Reach 50Hz.
Preferably, the GNSS differential receivers support the direction finding of Beidou single system location-independent and multisystem combined positioning to survey
To real-time time for supporting the 3G network/LAN network interface/radio station UHF progress differential data real-time Transmission and positioning direction finding data
It passes, reserves inertia IMU navigation equipment and merge interface.
Compared with prior art, the beneficial effects of the present invention are:
1, present invention utilizes GNSS positioning and directing principles, using trigonometric function, divide quadrant, calculating angle relative difference
Principle, realize it is a kind of based on Differential positioning orientation holder follow scheme automatically, can be widely applied to monitoring, counter etc.
Field can be used without calibration, can complete the high-precision of holder and follow automatically, and strong interference immunity.
Detailed description of the invention
Fig. 1 is a kind of entire block diagram of the holder automatic following system based on Differential positioning orientation of the present invention；
Fig. 2 is a kind of angle difference calculation of the holder automatic following system based on Differential positioning orientation of the present invention
Schematic diagram；
Fig. 3 is the present invention a kind of holder and target calculation of the holder automatic following system based on Differential positioning orientation
Schematic diagram.
Icon: 1, GNSS differential receivers；2, first serial；3, operation control module；4, second serial；5, holder；50,
Holder；501, initial position reference point；6, target.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Please refer to Fig. 1-3, the present invention provides a kind of technical solution: it is a kind of based on Differential positioning orientation holder follow automatically
System, including GNSS differential receivers 1, operation control module 3 and holder 5, the GNSS differential receivers 1 are used for holder 5
Positioning and directing, 5 side of holder are equipped with target 6, calculate the line of holder 5 and target 6 and the angle of direct north, the cloud
5 side of platform is equipped with initial reference point, the course that the course angle and GNSS differential receivers 1 of the initial reference point 501 are got
Angle is identical always, and the GNSS differential receivers 1 and operation control module 3 are connected by first serial 2, the operation control mould
Block 3 and holder 5 are connected by second serial 4, and the calculation process module 3 calculates the difference between two angles, calculation process mould
Block 3 issues the instruction of rotation direction and rotational angle according to the difference to holder 5, and holder 5 executes the instruction followed automatically, described
It does not need to carry out bearing calibration when the system application that GNSS differential receivers 1, operation control module 3 and holder 5 form, power on i.e.
It can be used.
The GNSS differential receivers 1 can receive BDS, B1/B2, GPS, L1/L2/L5, GLONASS, L1/L2/L3 simultaneously
And GalileoE1/E5, support double antenna carry out positioning direction finding resolve, can accurately judge mobile vehicle position,
Speed and course information, centimeter-level positioning precision, direction finding precision is better than 0.09 ° (2m baseline), while data output frequencies reach
50Hz, the GNSS differential receivers 1 support the direction finding of Beidou single system location-independent and multisystem combined positioning direction finding, support 3G
Network/LAN network interface/radio station UHF carries out the real-time Transmission of differential data and positions the real-time passback of direction finding data, reserves inertia
IMU navigation equipment merges interface.
Referring to Fig. 2, the line and direct north angle ∠ AOC of the initial reference point 501 of holder, holder 5 and target 6,
The course angle ∠ AOB of the initial reference point 501 of holder 5.Need to calculate the differential seat angle ∠ BOC of ∠ AOC Yu ∠ AOB.Wherein, ∠
AOB is obtained by GNSS differential receivers 1, and is forwarded to operation control module 3 from first serial 1.When target 6 appears in low latitude pipe
When in region processed, calculation process module 3 can get the longitude and latitude of target 6, calculate differential seat angle according to the relative difference of longitude and latitude
∠BOC。
Referring to Fig. 3, O point is that 5 center longitude of holder calculates point, C point is target's center's calculation of longitude & latitude point, and OA is positive
The north is to D point is 5 initial reference point of holder.Because two o'clock longitude and latitude is it is known that horizontal distance EC and disposition between two o'clock
Distance EO can also be calculated.According to tangent trigonometric function theorem, ∠ AOC=argtan (EC/EO) can calculate ∠ AOC,
And then calculate the size of ∠ BOC.Operation control module 3 issues accordingly according to the size of ∠ BOC from second serial 4 to holder 5
Instruction, holder 5 can rotate with it same angle, to complete high-precision to follow automatically.
In summary: present invention utilizes GNSS positioning and directing principles, using trigonometric function, divide quadrant, calculating angle
The principle of relative difference, realize it is a kind of based on Differential positioning orientation holder follow scheme automatically, can be widely applied to supervise
The fields such as control, counter can be used without calibration, can complete the high-precision of holder and follow automatically, and strong interference immunity.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (8)
1. a kind of holder automatic following system based on Differential positioning orientation, including GNSS differential receivers, operation control module
And holder, it is characterised in that: the GNSS differential receivers are connected with operation control module by first serial, the operation control
Molding block is connected with holder by second serial.
2. a kind of holder automatic following system based on Differential positioning orientation according to claim 1, it is characterised in that: institute
GNSS differential receivers are stated for holder positioning and directing.
3. a kind of holder automatic following system based on Differential positioning orientation according to claim 1, it is characterised in that: institute
Holder side is stated equipped with target, calculates the line of holder and target and the angle of direct north.
4. a kind of holder automatic following system based on Differential positioning orientation according to claim 1, it is characterised in that: institute
State the course angle that holder side is got equipped with initial reference point, the course angle and GNSS differential receivers of the initial reference point
Always identical.
5. a kind of holder automatic following system based on Differential positioning orientation according to claim 1, it is characterised in that: institute
State calculation process module calculate two angles between difference, calculation process module according to the difference to holder issue rotation direction and
The instruction of rotational angle, holder execute the instruction followed automatically.
6. a kind of holder automatic following system based on Differential positioning orientation according to claim 1, it is characterised in that: institute
It does not need to carry out bearing calibration when stating the system application of GNSS differential receivers, operation control module and holder composition, power on i.e.
It can be used.
7. a kind of holder automatic following system based on Differential positioning orientation according to claim 1, it is characterised in that: institute
It states GNSS differential received function while receiving BDS, B1/B2, GPS, L1/L2/L5, GLONASS, L1/L2/L3 and GalileoE1/
E5 supports double antenna to carry out positioning direction finding and resolve, can accurately judge position, speed and the heading device of mobile vehicle
Breath, centimeter-level positioning precision, direction finding precision is better than 0.09 ° (2m baseline), while data output frequencies reach 50Hz.
8. a kind of holder automatic following system based on Differential positioning orientation according to claim 1, it is characterised in that: institute
It states GNSS differential receivers and supports the direction finding of Beidou single system location-independent and multisystem combined positioning direction finding, support 3G network/LAN
Network interface/radio station UHF carries out the real-time Transmission of differential data and positions the real-time passback of direction finding data, reserves inertia IMU navigation
Equipment merges interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910846373.3A CN110427050A (en) | 2019-09-09 | 2019-09-09 | A kind of holder automatic following system based on Differential positioning orientation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910846373.3A CN110427050A (en) | 2019-09-09 | 2019-09-09 | A kind of holder automatic following system based on Differential positioning orientation |
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| CN110427050A true CN110427050A (en) | 2019-11-08 |
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| CN201910846373.3A Pending CN110427050A (en) | 2019-09-09 | 2019-09-09 | A kind of holder automatic following system based on Differential positioning orientation |
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Citations (5)
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|---|---|---|---|---|
| US20090322600A1 (en) * | 2004-03-19 | 2009-12-31 | Whitehead Michael L | Method and system using gnss phase measurements for relative positioning |
| CN102589527A (en) * | 2012-01-17 | 2012-07-18 | 中测新图(北京)遥感技术有限责任公司 | Unmanned aerial vehicle aerial photographing system with rotary deviation correction, unmanned aerial vehicle and aerial photographing method |
| CN105676865A (en) * | 2016-04-12 | 2016-06-15 | 北京博瑞爱飞科技发展有限公司 | Target tracking method, device and system |
| CN108062115A (en) * | 2018-02-07 | 2018-05-22 | 成都新舟锐视科技有限公司 | A kind of continuous tracking system of multiple target based on cradle head control technology and method |
| CN109240328A (en) * | 2018-09-11 | 2019-01-18 | 国网电力科学研究院武汉南瑞有限责任公司 | A kind of autonomous method for inspecting of shaft tower based on unmanned plane |
-
2019
- 2019-09-09 CN CN201910846373.3A patent/CN110427050A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090322600A1 (en) * | 2004-03-19 | 2009-12-31 | Whitehead Michael L | Method and system using gnss phase measurements for relative positioning |
| CN102589527A (en) * | 2012-01-17 | 2012-07-18 | 中测新图(北京)遥感技术有限责任公司 | Unmanned aerial vehicle aerial photographing system with rotary deviation correction, unmanned aerial vehicle and aerial photographing method |
| CN105676865A (en) * | 2016-04-12 | 2016-06-15 | 北京博瑞爱飞科技发展有限公司 | Target tracking method, device and system |
| CN108062115A (en) * | 2018-02-07 | 2018-05-22 | 成都新舟锐视科技有限公司 | A kind of continuous tracking system of multiple target based on cradle head control technology and method |
| CN109240328A (en) * | 2018-09-11 | 2019-01-18 | 国网电力科学研究院武汉南瑞有限责任公司 | A kind of autonomous method for inspecting of shaft tower based on unmanned plane |
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Application publication date: 20191108 |