CN110455285A - A kind of Navigation of Pilotless Aircraft method and navigation device in satellite navigation signals failure - Google Patents
A kind of Navigation of Pilotless Aircraft method and navigation device in satellite navigation signals failure Download PDFInfo
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- CN110455285A CN110455285A CN201910662330.XA CN201910662330A CN110455285A CN 110455285 A CN110455285 A CN 110455285A CN 201910662330 A CN201910662330 A CN 201910662330A CN 110455285 A CN110455285 A CN 110455285A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Abstract
The air navigation aid and navigation device that the embodiment of the invention provides a kind of in satellite navigation signals failure, wherein method includes: lasting reception satellite navigation signals, IMU data and vision guided navigation location information；Whether the satellite navigation signals reception state for judging current time is effective status；As current time satellite navigation signals reception state be effective status when, navigated by the first navigation mode；As current time satellite navigation signals reception state be invalid state when, navigated by the second navigation mode.The embodiment of the present invention can not only avoid the unmanned plane for only equipping low precision IMU because satellite navigation signals fail to safe flight, UAV Attitude caused by the cumulative errors because of low precision IMU can also be avoided to drift about, safe flight in the case where making unmanned plane awing lose or be interfered because of satellite navigation signals, improves the flight safety of unmanned plane.
Description
Technical field
The present invention relates to air vehicle technique fields, lead more particularly to a kind of unmanned plane when satellite navigation signals fail
Boat method and navigation device.
Background technique
With unmanned air vehicle technique fast development, also rapid expansion, application scenarios are usually adjoint for the application field of unmanned plane
Complex environment, such as groups of building, mountain forest and valley, these application scenarios be easy to cause satellite navigation signals to lose or satellite
Navigation signal interference, and unmanned plane needs to correct in long endurance flight course posture by satellite navigation signals, once satellite
Navigation signal is blocked by obstructions, it is likely that cause UAV Attitude cumulative errors that cannot correct and can not safe flight.
The case where losing or be interfered for satellite navigation signals, existing Navigation of Pilotless Aircraft technology is usually satellite navigation
Signal and IMU (Inertial Measurement Unit, Inertial Measurement Unit) integrated navigation mode.It is limited by cost and again
Inertial navigation set in amount limitation unmanned plane is usually low precision IMU, and the accumulated error of this IMU can gradually become at any time
Greatly.
However, inventor has found in the implementation of the present invention, at least there are the following problems for the prior art:
It is low due to lacking the speed and position detection amount of navigation satellite under navigation satellite signal long-time failure conditions
The cumulative errors of precision IMU will lead to biggish attitude drift in a short time, to cause the flight attitude of unmanned plane wrong
Accidentally, unmanned plane is caused to crash, it is difficult to guarantee unmanned plane safe flight in the case where satellite navigation signals are lost or are interfered.
Summary of the invention
The embodiment of the present invention be designed to provide it is a kind of satellite navigation signals failure when Navigation of Pilotless Aircraft method and
Navigation device navigates to unmanned plane when satellite navigation signals are lost with realizing, improves the flight safety of unmanned plane.Tool
Body technique scheme is as follows:
In a first aspect, the embodiment of the invention provides a kind of Navigation of Pilotless Aircraft method in satellite navigation signals failure,
The described method includes:
Persistently receive satellite navigation signals, IMU data and vision guided navigation location information；The vision guided navigation positioning letter
It is included at least in breath: environmental characteristic information and point cloud information；Recording in the environmental characteristic information has: the view of picture pick-up device shooting
Multiple characteristic points in frequency key frame；There is record in the point cloud information: the different angle and distance information of picture pick-up device；It is described
Point cloud information is based on the multiple characteristic point and is calculated, alternatively, being collected by Active Imaging equipment；
Whether the satellite navigation signals reception state for judging current time is effective status；
When the satellite navigation signals reception state at current time is effective status, led by the first navigation mode
Boat；The first navigation mode is satellite navigation signals and IMU data Integrated navigation mode；
When the satellite navigation signals reception state at current time is invalid state, led by the second navigation mode
Boat；The second navigation mode are as follows: the vision guided navigation mode that view-based access control model navigator fix information is positioned；The invalid state
It include: that satellite navigation signals loss or satellite navigation signals are interfered.
It is optionally, described to pass through the step of the second navigation mode is navigated, comprising:
Based on the environmental characteristic information and point cloud information in the vision guided navigation location information, determine that picture pick-up device exists
Speed, posture and the position at current time；
According to the picture pick-up device the speed at current time, posture and position and the picture pick-up device installation
Parameter determines the unmanned plane in the speed, posture and position at current time；The installation parameter for stating picture pick-up device includes
At least one of below: Installation posture angle of the picture pick-up device relative to unmanned plane mass center, picture pick-up device is relative to unmanned plane mass center
Mounting distance.
Optionally, described to pass through after the second navigation mode navigated, the method also includes:
With preset period of time, periodically judge whether the satellite navigation signals reception state at current time is effective shape
State；
When the satellite navigation signals reception state at current time is effective status, it is by the second navigation pattern switching
The first navigation mode.
Optionally, described to pass through after the second navigation mode navigated, the method also includes:
Determine the Fuel Oil Remaining or remaining capacity of unmanned plane；
According to the Fuel Oil Remaining or remaining capacity of the unmanned plane, the unmanned plane is calculated in the second navigation mode
Under cruise duration；
The cruise duration is sent to ustomer premises access equipment.
Optionally, after the cruise duration to user's transmission, the method also includes:
The order of flying back that ustomer premises access equipment is sent is received, pre-set flight path movement of flying back is executed；
Behind pre-set flight path of flying back, in current environment characteristic information and pre-generated environmental characteristic dictionary library
Environmental characteristic information is matched；
The cumulative errors generated under the second navigation mode are corrected according to matching result.
It optionally, further include elevation information in the vision guided navigation location information, which comprises
Airborne elevation information is obtained, the airborne elevation information is generated by the airborne barometer of unmanned plane；
The airborne elevation information and the elevation information are weighted fusion calculation, obtain object height information.
Second aspect, the embodiment of the invention provides it is a kind of satellite navigation signals failure when Navigation of Pilotless Aircraft device,
Described device includes:
Receiving module, for persistently receiving satellite navigation signals, IMU data and vision guided navigation location information；The view
Feel in navigator fix information and include at least: environmental characteristic information and point cloud information；Recording in the environmental characteristic information has: camera shooting
Multiple characteristic points in the key frame of video of equipment shooting；In the point cloud information record have: the different angle of picture pick-up device and
Range information；The point cloud information is based on the multiple characteristic point and is calculated, alternatively, being acquired by Active Imaging equipment
It arrives；
First judgment module, for judging whether the satellite navigation signals reception state at current time is effective status；
First navigation module, for when the satellite navigation signals reception state at current time is effective status, by the
One navigation mode is navigated；The first navigation mode is satellite navigation signals and IMU data Integrated navigation mode；
Second navigation module, for when the satellite navigation signals reception state at current time is invalid state, by the
Two navigation modes are navigated；The second navigation mode are as follows: the vision guided navigation that view-based access control model navigator fix information is positioned
Mode；The invalid state includes: that satellite navigation signals loss or satellite navigation signals are interfered.
The third aspect, the embodiment of the invention provides a kind of electronic equipment, including processor, communication interface, memory and
Communication bus, wherein the processor, the communication interface, the memory are completed each other by the communication bus
Communication；The machine readable storage medium is stored with the machine-executable instruction that can be executed by the processor, the processing
Device is promoted by the machine-executable instruction: the method for realizing the Navigation of Pilotless Aircraft method that first aspect of the embodiment of the present invention provides
Step.
Fourth aspect, the embodiment of the invention provides a kind of computer readable storage medium, the computer-readable storage
Dielectric memory contains computer program, and the computer program is executed by processor the nothing of first aspect of embodiment of the present invention offer
The method and step of man-machine air navigation aid.
A kind of Navigation of Pilotless Aircraft method and navigation device in satellite navigation signals failure provided in an embodiment of the present invention,
By judging whether the satellite navigation signals reception state at current time is effective status, when the satellite navigation signals at current time
When reception state is invalid state, the second navigation mode, the i.e. view that is positioned of view-based access control model navigator fix information can be passed through
Feel that navigation mode is navigated, thus on the one hand can be avoided unmanned plane because satellite navigation signals fail to safe flight,
On the other hand UAV Attitude drifts about caused by can be avoided the cumulative errors because of low precision IMU, unmanned plane can be made in satellite
Safe flight in the case that navigation signal is lost or is interfered, improves the flight safety of unmanned plane.Certainly, implement this hair
Bright any product or method must be not necessarily required to reach all the above advantage simultaneously.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of process of the Navigation of Pilotless Aircraft method provided in an embodiment of the present invention in satellite navigation signals failure
Schematic diagram；
Fig. 2 is the collected adjacent key frame images schematic diagram of picture pick-up device in the embodiment of the present invention；
Fig. 3 is the schematic diagram of different conditions locating for unmanned plane in the embodiment of the present invention；
Fig. 4 is a kind of structure of the Navigation of Pilotless Aircraft device provided in an embodiment of the present invention in satellite navigation signals failure
Schematic diagram；
Fig. 5 is a kind of structural schematic diagram of the second navigation module in the embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of electronic equipment provided in an embodiment of the present invention.
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.
In view of this, as shown in Figure 1, the embodiment of the invention provides a kind of unmanned planes in satellite navigation signals failure
Air navigation aid, this method may comprise steps of:
S101 persistently receives satellite navigation signals, IMU data and vision guided navigation location information.
In the embodiment of the present invention, unmanned plane can constantly receive satellite navigation signals in flight course, IMU data,
And vision guided navigation location information.Wherein, satellite navigation signals can be obtained by Airplane Navigation Equipment, such as: GPS
(Global Positioning System, global positioning system) equipment, Beidou navigation equipment etc.；IMU data can be by airborne
IMU module obtains；Vision guided navigation location information can be obtained by airborne picture pick-up device, for example, monocular, binocular or depth camera
Head, wherein monocular and two-sided camera can be divided into visible light and infrared, ultraviolet or other spectrum types sensors again；
Depth camera can be infrared laser depth camera or LIDAR (Light Detection And Ranging, laser
Radar) etc..
Include at least in vision guided navigation location information: environmental characteristic information and point cloud information record in environmental characteristic information
Have: multiple characteristic points in the key frame of video of picture pick-up device shooting；There is record in point cloud information: the three-dimensional in point space where cloud
Spatial position coordinate；Point cloud information is based on multiple characteristic points and is calculated；Alternatively, can detect to obtain by depth transducer.,
Collected by Active Imaging equipment.
As shown in Fig. 2, being the collected adjacent key frame images schematic diagram of picture pick-up device.Wherein C0、C1And C2It respectively indicates
Picture pick-up device is in three flight moment corresponding position, wherein C0And C1For the picture pick-up device position of satellite navigation signals significant instant
It sets, C2For the picture pick-up device position of satellite navigation signals failure moment.m1、m2、m3、m4Respectively picture pick-up device is in C2Moment acquisition
The characteristic point arrived, n1、n2、n3、n4Respectively picture pick-up device is in C1Moment collected characteristic point, l1、l2、l3Respectively camera shooting is set
For in C0Moment collected characteristic point.p0、p1、p2Satellite navigation signals significant instant picture pick-up device is respectively indicated in C0And C1Position
Collected key frame images are set, the spatial positional information of a cloud is calculated by existing forward intersection；p3Indicate that satellite is led
Invalidating signal moment picture pick-up device navigate in C2The point cloud information of position.In practical application, since the algorithm of use is different, acquired
Point cloud information can achieve it is up to a hundred to hundreds of.For C2The point cloud information of position can be calculated by existing PnP algorithm
It obtains, can also directly be obtained by depth camera equipment.
S102 judges whether the satellite navigation signals reception state at current time is effective status.
Unmanned plane is in flight course, it can be determined that whether the satellite navigation signals reception state at current time is effective shape
State, that is to say, that unmanned plane can judge the state of received satellite-signal in flight course, thereby executing difference
Operation.
As a kind of optional embodiment of the embodiment of the present invention, unmanned plane can be every preset time in flight course
Interval judges whether the satellite navigation signals reception state at a current time is effective status, for example, 1 second, 2 seconds or 5 seconds,
To continuously be judged, to guarantee the accurate satellite navigation signals reception state for determining current time.
S103, when the satellite navigation signals reception state at current time be effective status when, by first navigation mode into
Row navigation.
In the embodiment of the present invention, if unmanned plane determines that the satellite navigation signals reception state at current time is effective shape
State can then be navigated by the first navigation mode, i.e. satellite navigation signals with IMU data Integrated navigation mode.
S104, when the satellite navigation signals reception state at current time be invalid state when, by second navigation mode into
Row navigation.
In the embodiment of the present invention, if unmanned plane determines that the satellite navigation signals reception state at current time is invalid shape
State can then be navigated by the second navigation mode.Described second navigation mode can be with are as follows: view-based access control model navigator fix letter
Cease the vision guided navigation mode that is positioned, this navigation mode can when satellite navigation signals reception state is invalid state,
It only needs to can determine the speed parameter and location parameter of unmanned plane by vision guided navigation location information, and then utilizes these parameters
It navigates.
Fig. 3 is the schematic diagram of different conditions locating for unmanned plane in the embodiment of the present invention, as shown in figure 3, C1Initially to defend
Star navigation signal moment state, CiThere are satellite navigation signals moment state, C for the last onei+1For no satellite navigation signals moment
State, picture pick-up device are installed below unmanned plane to the unobstructed place of light.
It, can environment in first view-based access control model navigator fix information as a kind of optional embodiment of the embodiment of the present invention
Characteristic information and point cloud information determine picture pick-up device in the speed, posture and position at current time, then according to picture pick-up device
In the speed at current time, posture and position and the installation parameter of picture pick-up device, determine unmanned plane in the speed at current time
Degree, posture and position.Wherein, the installation parameter of picture pick-up device includes at least one of the following: picture pick-up device relative to unmanned plane
The setting angle and mounting distance of mass center.
For different picture pick-up devices, may each be using purpose by point cloud information and corresponding key frame images
Characteristic point, calculate posture and the position of current time unknown picture pick-up device, there is picture pick-up device posture and position, according to
Position and the posture at aircraft current time can be calculated in installation parameter of the video camera on unmanned plane.Pass adjacent for two
The picture pick-up device position at moment and posture between key frame can be calculated by the PnP (Perspective-n-Point) of adjacent interframe
Method resolving is calculated, or can be calculated by the dead reckoning of IMU.PnP algorithm refers to through multipair 3D and 2D
With point, in the case where known or unknown picture pick-up device internal reference, solved outside picture pick-up device using re-projection error is minimized
The algorithm of ginseng, the algorithm are the prior art, and the embodiment of the present invention repeats no more.
As a kind of optional embodiment of the embodiment of the present invention, can will be determined above by vision guided navigation location information
Unmanned plane speed parameter and location parameter, as input parameter be supplied to the navigation algorithm under the first navigation mode, that is, can
To substitute the speed parameter and location parameter that are exported by navigation satellite.Although vision guided navigation location information can also have accumulative miss
Difference, but this error is much smaller than the cumulative errors of IMU data, therefore, is equivalent to and constitutes a high-precision using picture pick-up device
Inertial navigation set, to make unmanned plane also being capable of stabilized flight within a period of time of no satellite navigation signals.If there is
Necessity, can be unified to the first navigation by the speed parameter of the unmanned plane determined by vision guided navigation location information and location parameter
Under navigational coordinate system under mode.
, can also be with preset period of time as a kind of optional embodiment of the embodiment of the present invention, periodically judgement is worked as
Whether the satellite navigation signals reception state at preceding moment is effective status, when the satellite navigation signals reception state at current time is
It is again the first navigation mode by the second navigation pattern switching, so that unmanned plane be enable to re-use satellite when effective status
Navigation signal navigates, and improves the degree of intelligence of unmanned plane.It is above-mentioned to set the time cycle and can be set to 1 second, 2 seconds or 5
Second, the embodiment of the present invention is not specifically limited.
As a kind of optional embodiment of the embodiment of the present invention, after being navigated by the second navigation mode, also
It can determine the Fuel Oil Remaining or remaining capacity of unmanned plane, calculate cruise duration of the unmanned plane under the second navigation mode, nothing
Man-machine needs return to original flight path in safety time.It is readily appreciated that, safety time is less than cruise duration, such as is continuing a journey
It is subtracted on the basis of time 15 minutes.Unmanned plane can also send cruise duration to ustomer premises access equipment, to allow users to know
How long road unmanned plane can also fly, and send order of flying back to unmanned plane when needed.
As a kind of optional embodiment of the embodiment of the present invention, unmanned plane reception is flown back after order, can be executed and be flown back
The movement of pre-set flight path, that is, return to original flight path, behind pre-set flight path of flying back, unmanned plane can be to current environment
Characteristic information is matched with the environmental characteristic information in pre-generated environmental characteristic dictionary library, thus according to matching result school
The cumulative errors just generated under the second navigation mode.The effect of pre-generated environmental characteristic dictionary library is that unmanned plane machine is flying
When returning to original path, it can rapidly realize that the feature in the characteristics of image and existing dictionary library of current environment is matched,
To be corrected to positioning cumulative errors.The environmental characteristic dictionary library can pass through not in previous flight course for unmanned plane
What disconnected scanning circumstance generated, it is also possible to be in advance based on line of flight surrounding enviroment and scans and be stored in unmanned plane.
It can also include that elevation is believed as a kind of optional embodiment of the embodiment of the present invention, in vision guided navigation location information
Breath, since there are errors for airborne elevation information, the available airborne elevation information of unmanned plane can be by airborne elevation information
It is weighted fusion calculation with elevation information, obtains object height information, so that height determined by unmanned plane is more accurate.Add
Power fusion calculation process is calculated after can distributing different weighted values for airborne elevation information and elevation information.
As a kind of optional embodiment of the embodiment of the present invention, due to flying using vision guided navigation location information is calculated
Machine elevation information is that the elevation relative to ground can pass through satellite navigation for absolute elevation information (such as height above sea level)
Signal does compensation in the elevation information of significant instant and obtains.
As a kind of optional embodiment of the embodiment of the present invention, for by the calculated posture of vision guided navigation location information
And location information, it can be used as the observed quantity of Kalman filter, carry out merging resolving with airborne IMU data.
A kind of Navigation of Pilotless Aircraft method in satellite navigation signals failure provided in an embodiment of the present invention, is worked as by judgement
Whether the satellite navigation signals reception state at preceding moment is effective status, when the satellite navigation signals reception state at current time is
When invalid state, the second navigation mode, i.e. the vision guided navigation mode that is positioned of view-based access control model navigator fix information can be passed through
It navigates, on the one hand can be avoided unmanned plane because satellite navigation signals fail to safe flight, another aspect energy
It enough avoids UAV Attitude caused by the cumulative errors because of low precision IMU from drifting about, unmanned plane can be made to lose in satellite navigation signals
Safe flight in the case where losing or being interfered improves the flight safety of unmanned plane.
A kind of one kind of Navigation of Pilotless Aircraft device in satellite navigation signals failure provided in an embodiment of the present invention is specific
Embodiment, it is corresponding with process shown in Fig. 1, it is that a kind of of the embodiment of the present invention is failed in satellite navigation signals with reference to Fig. 4, Fig. 4
When Navigation of Pilotless Aircraft device a kind of structural schematic diagram, comprising:
Receiving module 201, for persistently receiving satellite navigation signals, IMU data and vision guided navigation location information；Depending on
Feel in navigator fix information and include at least: environmental characteristic information and point cloud information；There is record in environmental characteristic information: picture pick-up device
Multiple characteristic points in the key frame of video of shooting；There is record in point cloud information: the different angle and distance information of picture pick-up device；
Point cloud information is based on multiple characteristic points and is calculated, alternatively, being collected by Active Imaging equipment.
First judgment module 202, for judging whether the satellite navigation signals reception state at current time is effective status.
First navigation module 203, for passing through when the satellite navigation signals reception state at current time is effective status
First navigation mode is navigated；First navigation mode is satellite navigation signals and IMU data Integrated navigation mode.
Second navigation module 204, for passing through when the satellite navigation signals reception state at current time is invalid state
Second navigation mode is navigated；Second navigation mode are as follows: the vision guided navigation mould that view-based access control model navigator fix information is positioned
Formula；Invalid state includes: that satellite navigation signals loss or satellite navigation signals are interfered.
Wherein, as shown in figure 5, the second navigation module includes:
First determines submodule 2041, for the environmental characteristic information and point cloud letter in view-based access control model navigator fix information
Breath, determines picture pick-up device in the speed, posture and position at current time.
Second determines submodule 2042, speed, posture and position according to picture pick-up device at current time, and camera shooting
The installation parameter of equipment determines unmanned plane in the speed, posture and position at current time；State the installation parameter packet of picture pick-up device
Include at least one of following: Installation posture angle of the picture pick-up device relative to unmanned plane mass center, picture pick-up device is relative to unmanned plane matter
The mounting distance of the heart.
Wherein, first judgment module is specifically used for:
With preset period of time, periodically judge whether the satellite navigation signals reception state at current time is effective shape
State.
The device of that embodiment of the invention can also include:
Switching module, for when the satellite navigation signals reception state at current time is effective status, second to be navigated
Pattern switching is the first navigation mode.
Second judgment module, for judging that the satellite navigation signals at current time receive periodically with preset period of time
Whether state is effective status；
Switching module is specifically used for: when the satellite navigation signals reception state at current time is effective status, by second
Pattern switching of navigating is the first navigation mode.
Determining module, for determining the Fuel Oil Remaining or remaining capacity of unmanned plane.
Computing module calculates unmanned plane in the second navigation mould for the Fuel Oil Remaining or remaining capacity according to unmanned plane
Cruise duration under formula.
Sending module, for sending cruise duration to ustomer premises access equipment.
Receiving module executes pre-set flight path movement of flying back for receiving the order of flying back of ustomer premises access equipment transmission.
Matching module, for behind pre-set flight path of flying back, to current environment characteristic information and pre-generated environment
Environmental characteristic information in characteristics dictionary library is matched.
Correction module, for correcting the cumulative errors generated under the second navigation mode according to matching result.
Module is obtained, for obtaining airborne elevation information, airborne elevation information is generated by the airborne barometer of unmanned plane.
Fusion Module obtains object height letter for airborne elevation information and elevation information to be weighted fusion calculation
Breath.
A kind of Navigation of Pilotless Aircraft device in satellite navigation signals failure provided in an embodiment of the present invention, is worked as by judgement
Whether the satellite navigation signals reception state at preceding moment is effective status, when the satellite navigation signals reception state at current time is
When invalid state, the second navigation mode, i.e. the vision guided navigation mode that is positioned of view-based access control model navigator fix information can be passed through
It navigates, on the one hand can be avoided unmanned plane because satellite navigation signals fail to safe flight, another aspect energy
It enough avoids UAV Attitude caused by the cumulative errors because of low precision IMU from drifting about, unmanned plane can be made to lose in satellite navigation signals
Safe flight in the case where losing or being interfered improves the flight safety of unmanned plane.
The embodiment of the invention also provides a kind of electronic equipment, as shown in fig. 6, include processor 301, communication interface 302,
Memory 303 and communication bus 304, wherein processor 301, communication interface 302, memory 303 are complete by communication bus 304
At mutual communication,
Memory 303, for storing computer program；
Processor 301 when for executing the program stored on memory 303, realizes following steps:
Persistently receive satellite navigation signals, IMU data and vision guided navigation location information；In vision guided navigation location information
It includes at least: environmental characteristic information and point cloud information；There is record in environmental characteristic information: the key frame of video of picture pick-up device shooting
In multiple characteristic points；There is record in point cloud information: the different angle and distance information of picture pick-up device；Point cloud information is based on multiple
Characteristic point is calculated, alternatively, being collected by Active Imaging equipment；
Whether the satellite navigation signals reception state for judging current time is effective status；
When the satellite navigation signals reception state at current time is effective status, led by the first navigation mode
Boat；First navigation mode is satellite navigation signals and IMU data Integrated navigation mode；
When the satellite navigation signals reception state at current time is invalid state, led by the second navigation mode
Boat；Second navigation mode are as follows: the vision guided navigation mode that view-based access control model navigator fix information is positioned；Invalid state includes: to defend
Star navigation signal is lost or satellite navigation signals are interfered.
A kind of electronic equipment provided in an embodiment of the present invention, by the satellite navigation signals reception state for judging current time
Whether it is effective status, when the satellite navigation signals reception state at current time is invalid state, the second navigation can be passed through
The vision guided navigation mode that mode, i.e. view-based access control model navigator fix information are positioned is navigated, on the one hand can be avoided
On the other hand unmanned plane can be avoided the cumulative errors because of low precision IMU because satellite navigation signals fail to safe flight
Caused UAV Attitude drift, can be such that unmanned plane flies safely in the case where satellite navigation signals are lost or are interfered
Row, improves the flight safety of unmanned plane.
The communication bus that above-mentioned electronic equipment is mentioned can be Peripheral Component Interconnect standard (Peripheral Component
Interconnect, abbreviation PCI) bus or expanding the industrial standard structure (Extended Industry Standard
Architecture, abbreviation EISA) bus etc..The communication bus can be divided into address bus, data/address bus, control bus etc..
Only to be indicated with a thick line in figure, it is not intended that an only bus or a type of bus convenient for indicating.
Communication interface is for the communication between above-mentioned electronic equipment and other equipment.
Memory may include random access memory (Random Access Memory, abbreviation RAM), also may include
Nonvolatile memory (non-volatile memory), for example, at least a magnetic disk storage.Optionally, memory may be used also
To be storage device that at least one is located remotely from aforementioned processor.
Above-mentioned processor can be general processor, including central processing unit (Central Processing Unit,
Abbreviation CPU), network processing unit (Network Processor, abbreviation NP) etc.；It can also be digital signal processor
(Digital Signal Processing, abbreviation DSP), specific integrated circuit (Application Specific
Integrated Circuit, abbreviation ASIC), field programmable gate array (Field-Programmable Gate Array,
Abbreviation FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware components.
The embodiment of the invention also provides a kind of computer readable storage medium, it is stored in computer readable storage medium
Computer program, to execute following steps:
Persistently receive satellite navigation signals, IMU data and vision guided navigation location information；In vision guided navigation location information
It includes at least: environmental characteristic information and point cloud information；There is record in environmental characteristic information: the key frame of video of picture pick-up device shooting
In multiple characteristic points；There is record in point cloud information: the different angle and distance information of picture pick-up device；Point cloud information is based on multiple
Characteristic point is calculated, alternatively, being collected by Active Imaging equipment；
Whether the satellite navigation signals reception state for judging current time is effective status；
When the satellite navigation signals reception state at current time is effective status, led by the first navigation mode
Boat；First navigation mode is satellite navigation signals and IMU data Integrated navigation mode；
When the satellite navigation signals reception state at current time is invalid state, led by the second navigation mode
Boat；Second navigation mode are as follows: the vision guided navigation mode that view-based access control model navigator fix information is positioned；Invalid state includes: to defend
Star navigation signal is lost or satellite navigation signals are interfered.
A kind of computer readable storage medium provided in an embodiment of the present invention, by judging that the satellite navigation at current time is believed
Whether number reception state is effective status, when the satellite navigation signals reception state at current time is invalid state, Neng Goutong
The second navigation mode is crossed, i.e., the vision guided navigation mode that view-based access control model navigator fix information is positioned is navigated, thus a side
Face can be avoided unmanned plane because satellite navigation signals fail to safe flight, on the other hand can be avoided because of low precision IMU
Cumulative errors caused by UAV Attitude drift about, unmanned plane can be made to lose in satellite navigation signals or the case where be interfered
Lower safe flight, improves the flight safety of unmanned plane.
For device/electronic equipment/storage medium embodiment, since it is substantially similar to the method embodiment, so
It is described relatively simple, the relevent part can refer to the partial explaination of embodiments of method.
It should be noted that the device of the embodiment of the present invention, electronic equipment and storage medium respectively be using it is above-mentioned nobody
Device, electronic equipment and the storage medium of machine air navigation aid, then all embodiments of above-mentioned Navigation of Pilotless Aircraft method are suitable for
The device, electronic equipment and storage medium, and can reach the same or similar beneficial effect.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including element.
Each embodiment in this specification is all made of relevant mode and describes, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for system reality
For applying example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to embodiment of the method
Part explanation.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of Navigation of Pilotless Aircraft method in satellite navigation signals failure, which is characterized in that the described method includes:
Persistently receive satellite navigation signals, Inertial Measurement Unit IMU data and vision guided navigation location information；The vision is led
It is included at least in boat location information: environmental characteristic information and point cloud information；Recording in the environmental characteristic information has: picture pick-up device
Multiple characteristic points in the key frame of video of shooting；There is record in the point cloud information: the different angle and distance of picture pick-up device
Information；The point cloud information is based on the multiple characteristic point and is calculated, alternatively, being collected by Active Imaging equipment；
Whether the satellite navigation signals reception state for judging current time is effective status；
When the satellite navigation signals reception state at current time is effective status, navigated by the first navigation mode；Institute
Stating the first navigation mode is satellite navigation signals and IMU data Integrated navigation mode；
When the satellite navigation signals reception state at current time is invalid state, navigated by the second navigation mode；Institute
State the second navigation mode are as follows: the vision guided navigation mode that view-based access control model navigator fix information is positioned；The invalid state includes:
Satellite navigation signals are lost or satellite navigation signals are interfered.
2. the method according to claim 1, wherein described pass through the step of the second navigation mode is navigated,
Include:
Based on the environmental characteristic information and point cloud information in the vision guided navigation location information, determine picture pick-up device current
Speed, posture and the position at moment；
According to the picture pick-up device in the speed at current time, posture and position and the installation parameter of the picture pick-up device,
Determine the unmanned plane in the speed, posture and position at current time；The installation parameter of the picture pick-up device include with down toward
One item missing: Installation posture angle of the picture pick-up device relative to unmanned plane mass center, installation of the picture pick-up device relative to unmanned plane mass center
Distance.
3. the method according to claim 1, wherein described pass through after the second navigation mode navigated, institute
State method further include:
With preset period of time, periodically judge whether the satellite navigation signals reception state at current time is effective status；
It is described by the second navigation pattern switching when the satellite navigation signals reception state at current time is effective status
First navigation mode.
4. the method according to claim 1, wherein described pass through after the second navigation mode navigated, institute
State method further include:
Determine the Fuel Oil Remaining or remaining capacity of unmanned plane；
According to the Fuel Oil Remaining or remaining capacity of the unmanned plane, the unmanned plane is calculated under the second navigation mode
Cruise duration；
The cruise duration is sent to ustomer premises access equipment.
5. according to the method described in claim 4, it is characterized in that, it is described send cruise duration to user after, it is described
Method further include:
The order of flying back that ustomer premises access equipment is sent is received, pre-set flight path movement of flying back is executed；
Behind pre-set flight path of flying back, to the environment in current environment characteristic information and pre-generated environmental characteristic dictionary library
Characteristic information is matched；
The cumulative errors generated under the second navigation mode are corrected according to matching result.
6. the method according to claim 1, wherein further including elevation letter in the vision guided navigation location information
Breath, which comprises
Airborne elevation information is obtained, the airborne elevation information is generated by the airborne barometer of unmanned plane；
The airborne elevation information and the elevation information are weighted fusion calculation, obtain object height information.
7. a kind of Navigation of Pilotless Aircraft device in satellite navigation signals failure, which is characterized in that described device includes:
Receiving module, for persistently receiving satellite navigation signals, Inertial Measurement Unit IMU data and vision guided navigation positioning letter
Breath；It is included at least in the vision guided navigation location information: environmental characteristic information and point cloud information；Remember in the environmental characteristic information
Record has: multiple characteristic points in the key frame of video of picture pick-up device shooting；There is record in the point cloud information: picture pick-up device is different
Angle and distance information；The point cloud information is based on the multiple characteristic point and is calculated, alternatively, passing through Active Imaging equipment
It collects；
First judgment module, for judging whether the satellite navigation signals reception state at current time is effective status；
First navigation module, for being led by first when the satellite navigation signals reception state at current time is effective status
Model plane formula is navigated；The first navigation mode is satellite navigation signals and IMU data Integrated navigation mode；
Second navigation module, for being led by second when the satellite navigation signals reception state at current time is invalid state
Model plane formula is navigated；The second navigation mode are as follows: the vision guided navigation mode that view-based access control model navigator fix information is positioned；
The invalid state includes: that satellite navigation signals loss or satellite navigation signals are interfered.
8. device according to claim 7, which is characterized in that the first judgment module is specifically used for:
With preset period of time, periodically judge whether the satellite navigation signals reception state at current time is effective status；
Described device further include:
Switching module, for when the satellite navigation signals reception state at current time is effective status, described second to be navigated
Pattern switching is the first navigation mode.
9. a kind of electronic equipment, which is characterized in that including processor, communication interface, memory and communication bus, wherein described
Processor, the communication interface, the memory complete mutual communication by the communication bus；
The memory, for storing computer program；
The processor when for executing the program stored on memory, realizes method described in any one of claims 1-6
Step.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer in the computer readable storage medium
Program, the computer program realize method and step described in any one of claims 1-6 when being executed by processor.
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| CN111007555A (en) * | 2019-11-28 | 2020-04-14 | 中国航空工业集团公司西安航空计算技术研究所 | General aircraft airborne integrated navigation system and navigation method |
| CN111024072A (en) * | 2019-12-27 | 2020-04-17 | 浙江大学 | Satellite map aided navigation positioning method based on deep learning |
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