CN110442144A - Tour guide's UAV system and its working method based on Android - Google Patents
Tour guide's UAV system and its working method based on Android Download PDFInfo
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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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
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The present invention discloses a kind of tour guide's UAV system based on Android, including Subscriber Interface Module SIM, path planning module, communication module and aircraft, navigation information is inputted path planning module by Subscriber Interface Module SIM by user, path planning module reads user current location and target position, carry out optimum path planning, and be sent wirelessly by communication module to aircraft, aircraft carries out flight tour guide to user according to the path planned.The working method for tour guide's UAV system based on Android that invention additionally discloses a kind of, include the following steps: step 1, the destination information that path planning module is inputted according to user reads current location and target position, optimum path planning is carried out, and aircraft is sent to by communication module；Step 2, aircraft carries out flight tour guide to user according to the path planned.Such technical solution can realize intelligent guide, provide optimal Tourist Experience for tourist.
Description
Technical field
The present invention relates to a kind of tour guide's UAV system and its working method based on Android.
Background technique
Intelligent guide is a part of intelligent transportation, and be with a wide range of applications [1], novel quadrotor tour guide unmanned plane
Have many advantages, such as that tour guide is high-efficient, interactivity is good relative to personnel tour guide, it is inexpensive.
With the continuous development of unmanned plane, unmanned plane commercialization is more and more common, and the use for unmanned plane of conducting a sightseeing tour also is answered
It transports and gives birth to.The a part of tour guide's unmanned plane as intelligent transportation, is mainly used in the environment such as sight spot, market, colleges and universities [2], for trip
Visitor provides intelligent guide service.
Typical unmanned plane is made of [3] quadrotor, hand-held earth station and user's input module, and mechanism map is such as
Shown in Fig. 1.In Fig. 1, tour guide destination is inputted earth station by input module by user, meanwhile, tour guide's aircraft passes through ground
Flight information is sent to earth station by face station.
The bibliography being related to:
[1] Liu Yuqing, Xing Bo, configuration research [J] that Wang Qingsheng's travelling products innovate affect experience perceived value are economical
Management, 2018,40 (11): 157-173.
[2] Zhou Chenyao draws the mapping of the cartography Jiangxi [J], 2018 (04): 44-47. based on the digital line of MapMatrix
[3] Shenyang analysis and research [J] the aerospace of Lu Yanjun, Liu Jiwei, the development of Zhang Xiaodong unmanned aerial vehicle station are big
Learn journal, 2014,31 (03): 60-64.
[4] Xing Zhen small drone earth station software design [D] Nanchang University of aviation, 2018.
[5] a kind of light-duty examine of Li great Jian, Jia Wei, Liu Huixia, Xi Qingbiao beats integrated UAV system design [J] firepower
With command and control, 2014,39 (03): 137-139.
[6] Liu Chen is a kind of scouts the design for hitting integrated unmanned aerial vehicle station software and realization [J] the sensor world,
2018,24(07):31-37.
[7] Liu Yang, Ma Lina, Liu Lei unmanned aerial vehicle station flight monitor system software design [J] computer measurement with
Control, 2014,22 (01): 294-296.
[8] Lan Lijin, Pan Yundan, Li Jun shoot a retrievable arrow and are based on STM32 simulation intelligent guide robot system design [J] number skill
Art and application, 2016 (09): 145-146.
[9] design and fabrication [J] Electronic Testing of the campus He Jing guide robot, 2018 (11): 76-77.
[10] flight simulation computer 1553B unit design [J] electricity of Wu Wenzhi, Chen Xin, Lv Xun the Hong based on FlexRay
Son design engineering, 2014,22 (19): 160-163+166.
[11]Matthew Coombes.Fixed Wing UAV Survey Coverage Path Planning in
Wind for Improving Existing Ground Control Station Software [A] China Association of Automation
The 37th Chinese Control Conference collection of thesis (F) [C] China Association of Automation control theory profession of control theory Professional Committee
The committee: control theory Professional Committee, China Association of Automation, 2018:6.
[12] unmanned boat ground station control and monitoring system design [J] of Ge Rong, Qiao great Lei, Zhang Chao based on Android
Present information science and technology, 2018,2 (09): 177-178+180.
Summary of the invention
The purpose of the present invention is to provide a kind of tour guide's UAV system and its working method based on Android, can
It realizes intelligent guide, provides optimal Tourist Experience for tourist.
In order to achieve the above objectives, solution of the invention is:
A kind of tour guide's UAV system based on Android, including Subscriber Interface Module SIM, path planning module, communication mould
Navigation information is inputted path planning module by Subscriber Interface Module SIM by block and aircraft, user, and path planning module, which is read, to be used
Family current location and target position carry out optimum path planning, and are sent wirelessly by communication module to aircraft, fly
Row device carries out flight tour guide to user according to the path planned.
The working method of tour guide's UAV system based on Android as previously described, includes the following steps:
Step 1, the destination information that path planning module is inputted according to user reads current location and target position, into
Row optimum path planning, and aircraft is sent to by communication module；
Step 2, aircraft carries out flight tour guide to user according to the path planned.
In above-mentioned steps 1, path planning module first determines whether the destination information of user's input is legal, and it is legal to judge
Carry out path planning again afterwards.
In above-mentioned steps 1, the detailed process that path planning module carries out optimum path planning is:
Step A is loaded into offline map, carries out position calculating to building and crossing, and encoded according to road, establishes
Database, meanwhile, the pixel dot position information of the longitude and latitude and image that are loaded into position is inserted into database, and updates present bit
Set the weight with upper a crossing and next crossing；
Step B inquires database according to current location and target position, obtains all of current location and target position
Encoded information；
Step C successively carries out combination of paths according to the encoded information of current location and target position, and calculates each road
The weight of diameter obtains the total weight of route of all tour guide's routes, and then total weight of more each route obtains optimal path.
In above-mentioned steps A, the specific method encoded is, carry out respectively belt road coding, vertical road codes and
It is position encoded, specific position can be determined by three codings.
In above-mentioned steps 1, the optimal path that path planning module is planned is made of N number of small route sequential connection, will
The latitude and longitude information that each small route both ends are corresponded in database is taken out, and forms the matrix of a N*2, is sent to aircraft.
In above-mentioned steps 1, path planning module is equipped with optimal path database, is carrying out path planning every time for saving
The optimal path of generation, path planning module every time carry out path planning when, first inquiry optimal path database in whether
There are same position path datas, then call directly if it exists, and there is no carry out path planning again.
It further include step 3, video information and posture information are returned to use in real time during flying tour guide by aircraft
Family interface module, to be shown.
Communication means between above-mentioned Subscriber Interface Module SIM and aircraft is: a web clothes are initiated in aerocraft system
Business, and communicated using Socket programming with Subscriber Interface Module SIM；Subscriber Interface Module SIM is wirelessly connected aircraft by Wifi,
And enable corresponding udp port and carry out data receiver, rendered and shown, the data of display include the flight time, flight attitude,
Flying speed, flying distance and to flying distance.
The design of above-mentioned Subscriber Interface Module SIM has 4 interfaces, is user selection interface respectively, tourist map display interface, distant
Measured data display interface, video display interface, wherein user selection interface is used to provide data input function for user；User
Interface module is loaded into map, and obtains the corresponding pixel points position on map according to current location information, in conjunction with path planning
Information carries out modeling beautification to aircraft by OpenGL function library, realizes tourist map display interface；Telemetry shows boundary
Face is used for the posture information returned according to aircraft, is rendered and is shown；Video display interface is for showing that aircraft returns
Video information.
After adopting the above scheme, the present invention is in use, user passes through the mesh that handheld terminal input module needs oneself
Ground input earth station, earth station obtains Aircraft position information and user and inputs information, and tourist is cooked up in passage path planning
The optimal path arrived at the destination, and guided by unmanned plane and realize intelligent guide.Meanwhile earth station passes through echo unmanned aerial vehicle vision
The real-time landscape and UAV Attitude information at angle provide optimal Tourist Experience for tourist.
The present invention flies for certain type unmanned plane tour guide and the requirement of Navigation Control, is exploitation by visible language of JAVA
Tool, insertion OpenGL open source software library are rendered, and a set of friendly interface, easy to operate, multiple functional tour guide are devised
Unmanned aerial vehicle station system.Medium of the earth station system as tour guide's unmanned plane and user provides user's input, path planning is led
Trip and voice and video output function.Meanwhile discretization control amount is exported in conjunction with route programming result using ground station terminal.It leads
Unmanned plane is swum at flight-control computer position control PID, realizes the Intelligent flight of unmanned plane.This hair of experimental test verification
The bright feasibility based on Android earth station software design, and the man-machine interface and Navigation Control function of hommization are realized, lead to
It is good with property, it has a good application prospect.
Detailed description of the invention
Fig. 1 is existing tour guide's unmanned plane mechanism map；
Fig. 2 is general design of software figure of the invention；
Fig. 3 is software flow of the invention；
Fig. 4 is path planning design organization figure；
Fig. 5 is customer objective ground input interface figure；
Fig. 6 is earth station's path planning figure.
Specific embodiment
Below with reference to attached drawing, technical solution of the present invention and beneficial effect are described in detail.
1, earth station's general design of software
Unmanned aerial vehicle ground control system, i.e. earth station GCS (ground control station), are the important of unmanned plane
Component part.It is the command centre [4-6] of UAV system, at the same with number and graphic form provide flight status,
Image reconnaissance realizes monitoring [7-8] system-wide to unmanned plane.Tour guide unmanned aerial vehicle station owner based on Android wants
It is based on hand-held terminal device, by being wirelessly connected to tour guide's aircraft, medium of the earth station as unmanned plane and user is realized
The function that user interacts with unmanned plane close friend.
Tour guide's unmanned aerial vehicle station software master-plan based on Android is as shown in Figure 2.In Fig. 2, it is based on
Tour guide's unmanned aerial vehicle station owner of Android will include Subscriber Interface Module SIM, path planning module, video information module, telemetering
Navigation information is inputted earth station by Subscriber Interface Module SIM by receiving module and communication module, user, and path planning module is read
User current location and target position carry out optimum path planning, and are sent wirelessly by communication module to tour guide and are flown
Row device, aircraft of conducting a sightseeing tour carry out flight tour guide to user according to the path planned, and in real time by video information and posture information
Echo is shown into Subscriber Interface Module SIM, and in the display.
In order to ensure tour guide's unmanned plane is still able to use in the case where internet lacks, the ground based on Android
It stands first by loading Google offline map to locally, by encoding to crossing location information, forms local inquiry
Table, and path weights are added, condition is provided for the quick use of path planning module.Path planning is carried out every time, is generated most
After shortest path, current path is inserted into optimal path database.Next time carries out same position path planning, then preferential to search most
Shortest path database.
2, earth station's Software Detailed Design
Tour guide's unmanned aerial vehicle station software process based on Android is as shown in Figure 3.In Fig. 3, user inputs mesh first
Ground information, it is legal that system judges whether, and carries out path planning, and the optimal road that user arrives at the destination is obtained after path planning
Diameter.And by its it is discrete turn to control amount, unmanned plane is sent to by communication module, flight-control computer passes through in unmanned plane
Pid algorithm navigates.After unmanned plane receives control information, flown by built-in flight-control computer, and by appearance
State information and video information are echoed by telemetry module to earth station.Earth station's Software Detailed Design mainly includes ground station software
Interface and path planning design.
The design of 1.1 earth station's software interfaces
In view of the flow of task design of the system, interface is divided into following four composed structures: Yong Huxuan by the design
Select interface, tourist map display interface, telemetry display interface, UAV Video display interface.
(1) user selection interface: the important interface of user is docked in earth station, and user's input provides data input work for user
Energy.Destination address is selected by user first, and current location is obtained by GPS, passes through the two location informations
It obtains, path is screened by optimal path algorithm, to obtain optimal tour guide path.
(2) tourist map display interface: being loaded into Google offline map by handheld terminal, current by obtaining
Location information and user input information, search database, obtain the pixel position on its map, in conjunction with route planning information,
Modeling beautification is carried out to unmanned plane by OpenGL function library, Dynamically Announce is carried out to tourist map.
(3) telemetry display interface: telemetry receiving module is responsible for the communication between earth station and unmanned plane.Firstly, In
A web services are initiated in UAV system, and are communicated using Socket programming with earth station.Earth station by Wifi without
Line connection tour guide's unmanned plane, and enable corresponding udp port and carry out data receiver, rendered and shown.The data of display include
Flight time, flight attitude, flying speed, flying distance and to flying distance.
(4) video display interface: the video data by receiving tour guide's aircraft is modeled by OpenGL, will be distant
Measured data and unmanned plane multi-view video are shown.Meanwhile unmanned plane during flying direction playing out user by voice and mentions
It wakes up, promotes the experience sense of user.
The design of 1.2 path plannings
Path planning design is the nucleus module of entire tour guide earth station, is the center of tour guide's UAV system, reasonably
Path planning can provide outstanding tour guide's experience for user.Path planning design structure as shown in figure 4, path planning process by
Path planning pretreatment, path planning calculate and path planning output is constituted.
1.2.1 path planning pre-processes
Path planning pretreatment mainly establishes offline map Data Discretization database, and then provides data for path computing
Library service safeguards database by constantly updating, and provides foundation for path planning calculating.Path planning pretreatment is first loaded into
Google offline map carries out position calculating to each building and crossing, and is encoded according to road.The present embodiment uses three
Part is encoded, i.e. belt road coding, vertical road codes and position encoded, can determine certain bits by three codings
It sets.Meanwhile the pixel dot position information for the longitude and latitude and image for being loaded into position is inserted into database, meanwhile, update present bit
The weight with upper a crossing and next crossing is set, database data format is as shown in table 1.
The tour guide's database data format table of table 1
In table 1, the database data of some schools position is given.By being encoded to school's each position information,
With belt road number longitudinal road number and it is position encoded encoded, as north gate coding the 5th belt road with the 4th longitudinally
On road, and in the 21st numbered positions.Needing to reach north gate needs first toward the 5th belt road or the 4th longitudinal road side
To navigation.Picture position X and picture position Y is respectively the image pixel point position in offline map, through program on map
Definite data are acquired, and insert upper table.Latitude and longitude information be in real time read aircraft GPS module, and acquire through
Latitude information.
Weight information is a 1*6 matrix A=[8 0 14 74 0], and the numerical value element of matrix A respectively indicates: current letter
Breath is apart from last belt road, next belt road, last longitudinal road, next longitudinal road, last position and next position
Distance weighting.Wherein, weight indicates for 0 without this location information.Such as north gate weight information represent apart from belt road as 5 away from
It is 8 from weight；It is 0 apart from the distance weighting that belt road distance is 7, i.e., without belt road 7；Distance longitudinal road in north gate is 3
Distance weighting be 14；The distance weighting that the longitudinal road of distance is 5 is 7；The distance weighting that north gate distance and position information is 20 is
4, without location information 22.Weight information first by picture position calculate, the later period with tour guide data increase not
It is disconnected to update weight information.
1.2.2 path planning calculates
Path planning module is the core of tour guide's unmanned plane path planning, and path planning is looked by source position and destination locations
An optimal path is looked for, road weight information is modified according to routing information, is updated in optimal path database.Its program flow
Journey is as follows:
(1) path planning module obtains the location information of unmanned plane by telemetry first, meanwhile, it is inputted according to user
Module obtains destination information, and by conducting a sightseeing tour, data base querying obtains all encoded informations of initial position and destination locations.
(2) path is successively combined according to the encoded information of initial position and destination locations, and by calculating each
The weight in path, obtains the total weight of route of all tour guide's routes, then obtains by comparing total weight of each route optimal
Path.
(3) according to the optimal path obtained, tour guide's database data is updated, the total path weight of optimal path will be reduced,
And then the later period quickly obtains optimal path.And optimal path information is inputted into tour guide's database, and then obtain optimal path data
Library.
(4) after optimal path database generates, path planning calculating first looks for optimal path database, if data are deposited
Then using data in database；If data are not present in database, (1)-(3) step is repeated, obtains optimal path, and
Update optimal path database.
By constantly updating and optimizing optimal path database, path planning computing module processing data speed will be mentioned constantly
It rises, and exports simultaneously for path planning to map providing service.The element of optimal path lane database is the matrix of N*6, knot
Structure is as shown in table 2.In table 2, one is shown from north gate to the optimal path data through pipe institute, data format is the square of 4*6
Each row element of battle array B, B indicate that an encoded information by position, each row vector include that 6 information are respectively lateral road
Road coding, longitudinal road codes, location information, location name and picture position X and picture position Y.By by its position X and position
It sets Y combination OpenGL path is painted in offline map and come out.
2 optimal path database data format table of table
1.2.3 path planning exports
Show that the optimal path that user arrives at the destination, each optimal path are made of multiple small routes by 1.2.2, therefore
Control signal is also made of multiple discrete data accordingly.Latitude and longitude information in database is taken out, forms a N*2's
Matrix, is sent in tour guide's unmanned plane by successively taking out latitude and longitude information, carries out closed-loop control by position pid algorithm,
Realize that unmanned plane is flown [10-11] along given route.
Meanwhile telemetry is issued to earth station by unmanned plane of conducting a sightseeing tour, earth station is according to telemetry, by unmanned plane of conducting a sightseeing tour
Flight path is broadcasted by audio, and by unmanned plane visual angle video information real-time display to earth station.
3, experimental result and analysis
The functional test at tour guide unmanned aerial vehicle station, using Android phone as ground station terminal's equipment, by earth station
Software app is installed to mobile phone.Testing procedure is as follows:
(1) firstly, user carries tour guide's unmanned plane and earth station to place of conducting a sightseeing tour, open tour guide's unmanned plane, and take off to
2.0m height and position.Flying height is mainly in view of user security problem for 2.0m, and the problem of combination speech volume decaying.
(2) WiFi function is opened by ground station terminal, and is connected on tour guide's unmanned plane.
(3) ground station software is opened, and user inputs tour guide destination.
(4) tour guide starts, and user carries ground station terminal and unmanned plane is followed to go sight-seeing, and can carry out scape by earth station
Point phonetic study, and sight spot landscape is watched by tour guide unmanned plane visual angle.Due to the cruising ability problem for unmanned plane of conducting a sightseeing tour, experiment
Time is set as 5 minutes, 10 minutes and 15 minutes.
Fig. 5 and Fig. 6 is respectively customer objective ground input interface figure and earth station's path planning figure.In fig. 5 and fig., may be used
With find out tour guide unmanned aerial vehicle station can quick correctly one optimal path of planning department, and path profile is passed through into OpenGL wash with watercolours
Dye accurately marks in map into offline map, and by beginning and end position.
3 experimental result of table
Table 3 is experimental result statistical form, shows that earth station's failure rate is 0% by many experiments, path planning error rate
It is 0%, 100ms is less than the time required to path planning, meets actual operating time, meets the needs of users.
By experimental result as can be seen that earth station's software function is perfect in the design, path planning algorithm is reasonable, software
It is stable, it can be used as a civilian earth station and come into operation.Meanwhile it is low to demanding terminal based on the earth station of Android, often
A Android phone or plate user of possessing all can be installed and used conveniently, compared with unmanned aerial vehicle station before, have suitable
Feature [12-13] wide with range, versatile.
4, conclusion
UAV system of conducting a sightseeing tour needs intelligent ground station as auxiliary, as user and tour guide as intelligent transportation equipment
Bridge between unmanned plane.A earth station based on Android is devised herein, can be realized under internet deletion condition
Intelligent guide.The earth station have self-recision, quick planning path is provided, real-time is good, stability is good, versatile, behaviour
Make simply, to alleviate the interaction obstacle of user and aircraft, improve tour guide's efficiency, provide optimal Tourist Experience for tourist.
Meanwhile also the further commercialization for unmanned plane of conducting a sightseeing tour provides necessary basis.
The above examples only illustrate the technical idea of the present invention, and this does not limit the scope of protection of the present invention, all
According to the technical idea provided by the invention, any changes made on the basis of the technical scheme each falls within the scope of the present invention
Within.
Claims (10)
1. a kind of tour guide's UAV system based on Android, it is characterised in that: including Subscriber Interface Module SIM, path planning mould
Navigation information is inputted path planning module, path planning mould by Subscriber Interface Module SIM by block, communication module and aircraft, user
Block reads user current location and target position, carries out optimum path planning, and by communication module be sent wirelessly to
Aircraft, aircraft carry out flight tour guide to user according to the path planned.
2. the working method of tour guide's UAV system based on Android as described in claim 1, it is characterised in that including such as
Lower step:
Step 1, the destination information that path planning module is inputted according to user reads current location and target position, carries out most
Shortest path planning, and aircraft is sent to by communication module；
Step 2, aircraft carries out flight tour guide to user according to the path planned.
3. working method as claimed in claim 2, it is characterised in that: in the step 1, path planning module first determines whether to use
Family input destination information it is whether legal, judge it is legal after carry out path planning again.
4. working method as claimed in claim 2, it is characterised in that: in the step 1, path planning module carries out optimal road
The detailed process of diameter planning is:
Step A is loaded into offline map, carries out position calculating to building and crossing, and encoded according to road, establishes data
Library, meanwhile, the pixel dot position information of the longitude and latitude and image that are loaded into position is inserted into database, and update current location with
The weight at upper a crossing and next crossing；
Step B inquires database according to current location and target position, obtains all codings of current location and target position
Information；
Step C successively carries out combination of paths according to the encoded information of current location and target position, and calculates each paths
Weight obtains the total weight of route of all tour guide's routes, and then total weight of more each route obtains optimal path.
5. working method as claimed in claim 4, it is characterised in that: in the step A, the specific method encoded is,
Belt road coding, vertical road codes and position encoded are carried out respectively, can determine specific position by three codings.
6. working method as claimed in claim 2, it is characterised in that: in the step 1, what path planning module was planned
Optimal path is made of N number of small route sequential connection, the latitude and longitude information that each small route both ends are corresponded in database is taken
Out, the matrix for forming a N*2, is sent to aircraft.
7. working method as claimed in claim 2, it is characterised in that: in the step 1, path planning module is equipped with optimal road
Diameter database, for saving every time in the optimal path for carrying out path planning generation, path planning module is carrying out path every time
When planning, it whether there is same position path data in inquiry optimal path database first, then call directly, do not deposit if it exists
Path planning is being carried out again.
8. working method as claimed in claim 2, it is characterised in that: further include step 3, process of the aircraft in flight tour guide
In, video information and posture information are returned into Subscriber Interface Module SIM in real time, to be shown.
9. working method as claimed in claim 8, it is characterised in that: the communication between the Subscriber Interface Module SIM and aircraft
Method is: initiating a web services in aerocraft system, and is communicated using Socket programming with Subscriber Interface Module SIM；
Subscriber Interface Module SIM is wirelessly connected aircraft by Wifi, and enables corresponding udp port and carry out data receiver, rendered and shown
Show, the data of display include flight time, flight attitude, flying speed, flying distance and to flying distance.
10. working method as claimed in claim 8, it is characterised in that: the Subscriber Interface Module SIM design has 4 interfaces, point
It is not user selection interface, tourist map display interface, telemetry display interface, video display interface, wherein user's selection
Interface is used to provide data input function for user；Subscriber Interface Module SIM is loaded into map, and is obtained according to current location information
Corresponding pixel points position on map carries out modeling beautification to aircraft by OpenGL function library in conjunction with route planning information,
Realize tourist map display interface；Telemetry display interface is used for the posture information returned according to aircraft, is rendered simultaneously
Display；Video display interface is used to show the video information of aircraft passback.
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| Publication number | Priority date | Publication date | Assignee | Title |
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