CN110865337A - Unmanned aerial vehicle laser positioning device - Google Patents
Unmanned aerial vehicle laser positioning device Download PDFInfo
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- CN110865337A CN110865337A CN201911191294.XA CN201911191294A CN110865337A CN 110865337 A CN110865337 A CN 110865337A CN 201911191294 A CN201911191294 A CN 201911191294A CN 110865337 A CN110865337 A CN 110865337A
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
- G01S5/163—Determination of attitude
Abstract
The invention discloses an unmanned aerial vehicle laser positioning device, which comprises an unmanned aerial vehicle with an unmanned aerial vehicle control unit, a laser receiver and a laser positioning device, wherein the laser positioning device comprises a laser transmitter and a line laser scanning device; the number of the laser emitters is four, and an upper reflector group, a vertical long shaft and a lower reflector group which are driven by a gear to horizontally rotate and are coaxial with the four laser emitters are sequentially arranged between the first laser emitter and the second laser emitter from top to bottom; the four laser transmitters are provided with a line laser scanning device at the positions where the upper reflector group and the lower reflector group emit laser. The unmanned aerial vehicle positioning device can solve the problems that an existing unmanned aerial vehicle positioning device is unreasonable and low in positioning accuracy.
Description
Technical Field
The invention relates to the technical field of space positioning of unmanned aerial vehicles, in particular to a device which is used for an unmanned aerial vehicle and takes a laser group as tracking and positioning.
Background
Present unmanned aerial vehicle, generally include unmanned aerial vehicle the control unit, four last transmission shafts of unmanned aerial vehicle drive four little propellers and rotate and take off, and unmanned aerial vehicle's location, generally all carry out the plane location with GPS, do the difference in height location with the barometer, the precision error of location is at the meter level so, can not reach the requirement of accurate positioning far away, therefore someone carries out three-dimensional location to unmanned aerial vehicle at present laser positioning device on probation, hope can reach the error level millimeter level of laser locator, but there is more problem in current laser locator, be difficult to guarantee the error level three-dimensional location of millimeter level.
The existing laser positioner comprises two laser transmitters and a line laser scanning device which rotationally disperses laser emitted by the two laser transmitters into line laser, and also comprises a laser receiver which receives the two laser transmitters, the rotating shafts of the line laser scanning devices of the two laser transmitters are mutually vertical so as to emit the mutually vertical two line laser, namely the rotating shaft of the line laser scanning device of one laser transmitter rotates along the horizontal direction to form a vertical plane (also called line laser) to scan along the horizontal direction from the seat to the right, the rotating shaft of the line laser scanning device of the other laser transmitter rotates along the vertical direction to form a horizontal plane (also called line laser) to scan along the vertical direction from the top to the bottom, and the two line laser sequentially scans the laser receiver on a moving object for two periods, and obtaining the space coordinates of the laser receiver so as to achieve the tracking and positioning of the object. In order to track and position the tracked object in real time, a laser emitter is required to scan a high data refresh rate, so that the rotating speed of a laser emitter scanning device is very high, and the vibration in the vertical direction and the vibration in the horizontal direction can affect each other at the high rotating speed to cause the vibration of a positioning coordinate. Because the rotating shafts of the two laser transmitters are mutually independent and vertically rotate, the shake and vibration of any point can shake the axial rotation of a certain laser transmitter, so that the deviation of the positioning coordinate of a vertical or horizontal shaft is caused, and the position coordinate of the object received by the laser receiver is inaccurate.
Disclosure of Invention
The invention aims to solve the problem of providing a laser positioning device for an unmanned aerial vehicle, and aims to solve the problems of unreasonable positioning device and low positioning accuracy of the existing unmanned aerial vehicle.
In order to solve the problems, the technical scheme of the invention is as follows: the laser positioning device of the unmanned aerial vehicle comprises the unmanned aerial vehicle with an unmanned aerial vehicle control unit, a laser receiver and a laser positioning device, wherein the laser receiver is arranged on the unmanned aerial vehicle, the laser receiver comprises a control unit which is used for receiving an electric signal, recording time intervals and calculating the rotation angular velocity information of four laser transmitters, an infrared photosensitive diode is also arranged in the laser receiver, and the control unit and the unmanned aerial vehicle control unit carry out data transmission through a communication protocol;
the laser positioning device comprises a laser emitter and a line laser scanning device, the laser emitter comprises a first laser emitter, a second laser emitter and a third laser emitter, the first laser emitter, the second laser emitter, the third laser emitter and the fourth laser emitter are coaxially and vertically arranged in sequence and are diverged downwards, an upper reflector group, a vertical long shaft and a lower reflector group which are driven by a gear to horizontally rotate and are coaxial with the four laser emitters are sequentially arranged between the first laser emitter and the second laser emitter from top to bottom, and the third laser emitter and the fourth laser emitter are arranged in the long shaft in sequence from top to bottom;
the upper reflector group comprises two reflectors which are obliquely arranged in an upper box and are used for reflecting two beams of laser emitted by the laser emitter A and the laser emitter D by 90 degrees and emitting the two beams of laser to the right and the right of the upper box, and the upper box is provided with one linear laser scanning device at the laser positions emitted by the laser emitter A and the laser emitter C;
the lower reflector group comprises a reflector which is obliquely arranged in the lower box and used for reflecting 90 degrees of laser emitted by the laser emitter B and the laser emitter C and emitting the laser to the right left and right of the lower box, and the lower box is provided with one line of laser scanning device at the laser emitted by the laser emitter B and the laser emitter C.
In the above technical solution, a more specific solution may be: laser receiver has and has to have at least threely, follows respectively unmanned aerial vehicle focus evenly distributed.
Further: the control unit comprises the following steps to obtain accurate tracking and positioning information:
step A, a long shaft drives four laser transmitters to continuously rotate and scan in space, four lasers emitted by the four laser transmitters of the first, second and third beams continuously sweep over a laser receiver in a circumferential scanning mode to form a cylindrical surface which takes the horizontal distance from the laser receiver to the axes of the four laser transmitters as a radius and takes the axes of the four laser transmitters as the position of the axes;
step B, two laser beams which are inclined at 45 degrees and are emitted by the laser emitter B and the laser emitter A scan the laser receiver to generate two receiving signals with time intervals, the angle of two beams of laser scanning the laser receiver can be calculated, the linear distance of the two beams of laser scanning the laser receiver on the cylindrical surface corresponding to the angle is equal to the fixed length of the up-down distance between the two beams of laser emitted from the linear laser scanning device after being reflected by the laser emitter A and the laser emitter B, so that an isosceles triangle which is formed by the horizontal distance between the two laser emitters and the cylindrical surface where the laser receiver is located and has two waists, the vertex angle of the two beams of laser scanning the laser receiver and the bottom edge of the isosceles triangle which is the linear distance between the two beams of laser scanning the laser receiver on the cylindrical surface is formed, and the horizontal distance between the cylindrical surface where the laser receiver is located and the laser positioning device can be;
step C, scanning a vertical line laser and an oblique line laser emitted by a laser emitter C and a laser emitter B through a laser receiver to generate two receiving signals with time intervals, so that the angle of scanning the laser receiver can be calculated, wherein the angle of scanning the laser receiver is obtained by subtracting the half rotation period of the two laser emitters from the half rotation period of the laser emitter B and the half rotation period of the laser emitter C, so that two equivalently intersected laser scanning lines are obtained, the angle of scanning the laser receiver by the two laser lines is a vertex angle, the horizontal distance from the cylindrical surface of the laser receiver to the axial lines of the four laser emitters obtained in the step B is two sides, the linear distance from the two lasers to the laser receiver on the cylindrical surface is an isosceles triangle with a bottom side, the laser line emitted by the laser emitter B is an oblique 45 degrees, and the bottom length of the isosceles triangle formed by the geometrical relationship is equal to the geometrical center of the cylinder formed by the laser receiver to the four laser emitters A vertical height; if the angle of the laser emitter B and the laser emitter C which sweep the laser receiver minus the angle of the two laser emitters separated by half of the rotation period is a positive number, the laser receiver is arranged above the laser positioning device, and the other way round is arranged below the laser positioning device;
d, two adjacent scanning periods of the laser emitter sweep the laser receiver to generate a receiving signal with time intervals, so that the rotating angle of the laser after sweeping the laser receiver can be calculated, and the angle is the difference angle between the last scanning position and the current scanning position; setting the last scanning position as an initial position, wherein the position of the laser receiver scanned this time is the position of the last position after rotating by the angle, and the horizontal distance and the vertical distance between the laser receiver and the axis where the four laser transmitters are located are obtained from the above steps; converting the data into space three-dimensional coordinates, taking the center of coincidence of the four laser transmitters as a zero coordinate, and taking the initialization position as an x-axis position, and converting the three-dimensional coordinates of the laser receiver in the space relative to the axis of the four laser transmitters;
at least three-dimensional data obtained by the control unit in the laser receiver are transmitted to the unmanned aerial vehicle control unit through bus communication as a group of data, so that the unmanned aerial vehicle control unit obtains the position of the unmanned aerial vehicle in the space relative to the laser positioning device and the attitude of the unmanned aerial vehicle in the air.
Further: a linear cylindrical lens is arranged in the linear laser scanning device, and the control unit is a micro control unit.
Further: all the laser emitters emit invisible laser light with the wavelength of 980 nanometers.
Further: the laser emitted by the laser emitter D is cone-shaped laser with a divergence angle of 3 degrees.
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following beneficial effects:
1. the laser positioning device of the unmanned aerial vehicle adopts a plurality of laser groups as tracking positioners so as to realize high-precision positioning; the unmanned aerial vehicle control unit obtains at least three groups of three-dimensional data, and the unmanned aerial vehicle obtains the three-dimensional position of the unmanned aerial vehicle relative to the laser positioning device and obtains self attitude data at the same time;
2. the laser positioning device used by the unmanned aerial vehicle laser positioning device adopts a single-shaft rotation mode, the horizontal or vertical coordinate is not affected by vibration, and the laser scanning device is arranged with the upper scanning device and the lower scanning device in a fixed length to realize transverse scanning, so that the single rotating shaft can obtain the space xyz three-coordinate of the receiving device in a rotating scanning period, high-precision positioning can be realized under the condition of high rotating speed, and higher data refresh rate can be obtained; when the existing two-axis one-line laser scanning device is moved or rotated, one of the vertical axis or the horizontal axis of the device can change the angle without fail, and the time sequence of the two-axis rotation scanning is changed, so that wrong data is brought;
this unmanned aerial vehicle laser positioning device can realize the millimeter level location of real-time three-dimensional position as high accuracy space locator to can realize that the high accuracy route cruises, the high accuracy is decided highly, follows at a high speed, and the high accuracy suspension location, and can know the gesture of unmanned aerial vehicle self accurately.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the invention;
FIG. 2 is a laser scan of four laser emitters of an embodiment of the invention;
FIG. 3 is a cross-sectional view of a laser scan of four laser emitters of an embodiment of the invention;
FIG. 4 is a schematic diagram of the horizontal distance between a laser receiver and four laser transmitters in accordance with an embodiment of the present invention;
FIG. 5 is a schematic diagram of the cylinder distance obtained by a laser receiver according to an embodiment of the invention;
FIG. 6 is a schematic height diagram of a laser receiver relative to a laser positioning device according to an embodiment of the invention;
FIG. 7 is an equivalent diagram of an angle of a laser beam swept through a laser receiver minus 180 of an embodiment of the invention;
FIG. 8 is a schematic diagram of the horizontal and vertical distances of a laser receiver from a laser transmitter in accordance with an embodiment of the invention;
FIG. 9 is a schematic diagram of a laser receiver receiving a third two scan distance and angle of a laser transmitter in accordance with an embodiment of the present invention;
fig. 10 is a three-dimensional coordinate graph obtained by a laser receiver receiving four laser transmitters according to an embodiment of the invention.
Detailed Description
The embodiments of the invention will be described in further detail with reference to the accompanying drawings:
the laser positioning device of the unmanned aerial vehicle shown in fig. 1 comprises an unmanned aerial vehicle 11 with an unmanned aerial vehicle control unit 12, a laser receiver 8 and a laser positioning device, wherein the laser receiver 8 is arranged on the unmanned aerial vehicle 11, the laser receiver 8 comprises a control unit 10 which is used for receiving electric signals, recording time intervals and calculating the rotation angular velocity information of four laser transmitters, and an infrared photosensitive diode 9 is further arranged on the laser receiver 8; the control unit 10 here is a microprocessor unit. There are four laser receiver 8 here, respectively along 12 focus evenly distributed of unmanned aerial vehicle, can establish on four transmission shafts of connecting the screw of unmanned aerial vehicle to connect unmanned aerial vehicle the control unit 12 with a data bus.
The laser positioning device comprises a laser emitter 1, a line laser scanning device 3 and four laser emitters 1, wherein each laser emitter emits invisible laser with the wavelength of 980 nanometers, the line laser scanning device and a laser receiver, the four laser emitters are sequentially coaxially and vertically arranged into a downward-diverging laser emitter A1-1 and an upward-diverging laser emitter T1-4, the laser emitter C1-3 emitting downwards and the laser emitter B1-2 emitting upwards are sequentially arranged between the laser emitter A1-1 and the laser emitter B1-2 from top to bottom, an upper reflector group 2, a vertical long shaft 5 and a lower reflector group 6 are sequentially arranged between the laser emitter A1-1 and the laser emitter B1-2, the vertical long shaft 5 and the lower reflector group 6 are driven by a gear 4 to rotate horizontally and are coaxial with the four laser emitters, and the laser emitter D1-4 and the laser emitter C1-3 are arranged in the long shaft 5 and are sequentially arranged one above the other.
The upper reflector group 2 comprises two reflectors which are obliquely arranged in the upper box 2-1 and used for reflecting 90 degrees of two beams of laser emitted by the laser emitter A1-1 and the laser emitter T1-4 and emitting the two beams of laser to the right side and the right side of the upper box 2-1, namely the reflector 2-2 which reflects 90 degrees of the laser emitted by the laser emitter A1-1 and emits the two beams of laser to the right side and the right side of the upper box 2-1, the reflector 2-2 is obliquely arranged along the anticlockwise direction by 45 degrees, the reflector 2-3 which reflects 90 degrees of the laser emitted by the laser emitter T1-4 and emits the two beams of laser to the right side of the upper box 2-1 is also obliquely arranged behind the reflector 2-2, and the reflector 2-3 is obliquely arranged behind the reflector 2-2. The upper box 2-1 is provided with a first-line laser scanning device 3 at the laser positions emitted by the laser emitter A1-1 and the laser emitter C1-3.
The lower reflector group 6 comprises a reflector 6-2 which is obliquely arranged in the lower box 6-1 and is used for reflecting the laser emitted by the laser emitter B1-2 and the laser emitter C1-3 by 90 degrees and emitting the laser to the right left and right of the lower box 6-1, the reflector 6-2 reflects on two sides and is obliquely arranged in the diagonal line of the lower box 6-1 by 45 degrees along the counterclockwise direction, and the front side and the back side simultaneously and respectively reflect the light of the laser emitter C1-3 and the laser emitter B1-2; the lower box 6-1 is provided with a first-line laser scanning device 3 at the laser positions emitted by the laser emitter B1-2 and the laser emitter C1-3.
The linear laser scanning device 3 is provided with a linear cylindrical lens therein.
The first-line laser scanning device 3 reflected by the output laser transmitters T1-4 selects conical laser with a divergence angle of 3 degrees, so that the laser emitted by the laser transmitters T1-4 is changed into vertical ribbon laser 7-4 after passing through the first-line laser scanning device; the laser emitter A1-1, the laser emitter B1-2 and the laser emitter C1-3 are used for reflecting a line laser 7-1 inclined at 45 degrees to the rear side, a line laser 7-2 inclined at 45 degrees to the rear side and a vertical line laser 7-3 which are emitted by the line laser scanning devices 3 in sequence. The distance between the first line laser scanning device 3 reflected by the laser emitter A1-1 and the first line laser scanning device reflected by the laser emitter B1-2 is a fixed length d.
The control unit comprises the following steps to obtain accurate tracking and positioning information:
step A, enabling the emitted laser to rotate the space where the scanning device is located continuously in the space by the four laser emitters, and forming a cylindrical surface which takes the horizontal distance from the laser receiver to the axis where the four laser emitters are located as a radius and takes the axis position as the position of the four laser emitters to obtain a laser scanning diagram, wherein the laser sequencing of the diagram is 1-laser emitter D, 2-laser emitter B, 3-laser emitter A and 4-laser emitter C from left to right as shown in figure 2.
Taking a cross section in space, the laser pattern of the previous figure is captured periodically, as shown in fig. 3.
When the strip laser scans, two or more laser receivers receive the laser signal at the same time, which is the starting signal of one scanning period.
When this unmanned aerial vehicle laser positioning device initializes, control unit record time when two above laser receiver received the signal, receive again the time of recording again, obtain device scanning period T and rotation angular velocity omega, the motor is for uniform rotation so T and omega unchangeable.
Step B, determining the spatial position:
step B1 shows the horizontal distance between the laser receiver 8 and the four laser emitters as shown in fig. 4, and the arrows indicate the four coincident laser emitters.
Two lasers with an angle of 45 degrees scan the laser receiver (line 2 and line 3) to generate two receiving signals with time intervals, so that the angle of the two lasers sweeping the laser receiver can be calculated, the laser distance of the laser receiver sweeping the angle is equal to the fixed length of the vertical distance of the two laser transmitters, the distance length of a cylindrical surface from the laser transmitter to the laser receiver is two waists, the vertex angle is the angle of the two lasers sweeping the laser receiver, the bottom side is an isosceles triangle with the fixed length of the vertical distance of the two laser transmitters, the horizontal distance from the cylindrical surface where the laser receiver is located to the laser positioning device can be obtained through geometric relations, and the vertical distance is L1.
The vertical distance of two parallel 45-degree oblique lasers is b, as shown in fig. 1, the horizontal distance of the two lasers in the space is b, the time t1 from scanning to the laser receiver by two lines 2 and 3 can be ∠β 1= ω × t1, the included angle is the rotating angle of two 45-degree oblique lines of laser scanning the laser receiver, the length of the opposite side of ∠β 1 is b, the triangle is an isosceles triangle, the horizontal distance from the laser receiver to the laser emitter is L1, L1 = b/sin ∠β 1 × sin ((180- ∠β 1)/2) can be obtained by sine theorem, the L1 distance can be obtained once in each rotating period, and the distance from the laser emitter to the cylindrical surface is L1, as shown in fig. 5.
Step B2, obtaining the distance relative to the laser emitter, and then obtaining the height of the laser receiver relative to the laser positioning device, as shown in fig. 6.
The lines 2 and 4 are scanned over the laser receiver to generate two received signals, the time interval is t2, and thus the angle of sweeping the laser receiver is ∠β 2, the line 2 and the line 4 are emitted by the laser emitter b and the laser emitter c, are separated by 180 °, and the sweeping equivalent angle is ∠β 2 '= ∠β 2-180 °, equivalent and lower diagrams are calculated, the distance d1 of sweeping the laser receiver by two lasers 24 is the bottom side, the vertical distance L1 of the cylindrical surface of the laser emitter to the laser receiver is two waist sides, and the vertex angle is an isosceles triangle composed of β 2', it is known that L1 and β 2 'geometrically derive the distance d1 of sweeping the laser receiver by two lasers 24, the angle of line 2 line 4 is 45 °, so the vertical height h of the laser receiver to the laser emitter is equal to d1., since ∠β 2' = ∠β 2-180 °, when ∠β 2 '< 0, the laser receiver is above the laser emitter, and when ∠β 2' >0, the laser receiver is below the laser emitter.
A vertical line and an oblique line scan the laser receiver (line 2, line 4), and generate two time-spaced receiving signals, so as to calculate the angle of the laser receiver, because line 2, line 4 are sent by the laser emitter B and the laser emitter C, and are separated by a half rotation period, and two laser scanning lines which are equivalently intersected are obtained after subtracting the half rotation period separated by the two laser emitters, the angle scanned by the two laser lines is a vertex angle, the vertical distance between the cylindrical surface where the laser receiver is located and the emitter is two waists, the horizontal distance between the two laser lines scanned by the laser receiver is an isosceles triangle with the base, because line 2 is a 45-degree oblique laser line, the base length of the isosceles triangle formed by the geometric relationship is equal to the vertical height between the laser receiver and the laser positioning device, if the angle of line 2, line 4, which scans the laser, minus the angle separated by the two laser emitters is a half rotation period, is a positive number, the laser receiver is above the laser positioning device and vice versa.
The lines 2, 4 scan across the laser receiver, the lines 2, 4 are spaced at an angle of 180 ° apart, the time t2 from scanning of both lines 2, 4 to the laser receiver may be taken to be the angle ∠β 2= ω × t2 at which the laser is swept across the laser receiver, which is equivalent to fig. 7 below, d1 and d2 are equal, forming a square, ∠β 2 '= ∠β 2-180 °, because of the angle =45 °, the vertical distance h = d1= d2 between the laser receiver and the laser emitter, d2= L1/sin ((180 ° - ∠β 2')/2) × sin (∠β 2 '), h = d2, because the line 2 is a word line laser inclined at 45 °, ∠β 2' = ∠β 2-180 °, when ∠β 2 '< 0, the laser receiver is above the emitter, when ∠β 2' >0, the laser receiver is below the emitter, and thus the vertical distance L1 h of the laser emitter, as shown in fig. 7.
And step B3, recording the position obtained by the last scanning, wherein the time t3 from the two periodic lines 4 and 4' to the laser receiver can obtain the angle of the laser receiver relative to the last scanning position of ∠β 3= 360 ° - ω × t3, as shown in FIG. 9.
The line 4 and the lower periodic line 4' scan the laser receiver to generate two receiving signals, the time interval of which is t3, so that the included angle ∠β = ω × t3 when the laser scans the laser receiver can be calculated, the included angle is the included angle between the last scanning position and the current scanning position, the last scanning position is set as the initial position, the included angle between the laser receiver position scanned at the current time and the last scanning position is ∠β, the horizontal distance is L1, and the vertical distance is h.
This unmanned aerial vehicle laser positioning device is anticlockwise rotation, so ∠β 3>0 this time scan the position on the right of last scanning position, ∠β 3<0 this time scan the position on the left of last scanning position, finally every scanning can draw the position of laser receiver at transmitter position horizontal distance L1, vertical distance h, and last scanning position is the position of contained angle ∠β 3.
If the space three-dimensional coordinate is converted, the transmitter is taken as a zero coordinate, and the initialization position is taken as an x-axis position, then the following steps are carried out:
xyz (L1 cos ∠β 3, L1sin ∠β 3, h) as shown in FIG. 10.
Four groups of three-dimensional data obtained by the control unit 10 in the laser receiver are transmitted to the unmanned aerial vehicle control unit 12 through bus communication as a group of data, so that the unmanned aerial vehicle control unit 12 obtains the position of the unmanned aerial vehicle 11 in the space relative to the laser positioning device and the attitude of the unmanned aerial vehicle 11 in the air.
The laser positioning device for the laser positioning device of the unmanned aerial vehicle adopts a single-shaft rotation mode, the horizontal or vertical coordinate is not affected by vibration, and the laser scanning device is arranged with the upper scanning device and the lower scanning device at a fixed length d to realize transverse scanning, so that the single-shaft rotation can obtain the space xyz three-coordinate of the receiving device in a rotation scanning period, the high-precision positioning can be realized under the condition of high rotation speed, and the higher data refresh rate can be obtained; as a high-precision space locator, the device can be used in aspects such as virtual reality space positioning, space holographic image display, precise three-dimensional positioning of unmanned aerial vehicles, space positioning of intelligent logistics systems and the like.
The laser positioning device of the unmanned aerial vehicle adopts a plurality of laser groups as tracking positioners so as to realize high-precision positioning; the unmanned aerial vehicle control unit obtains at least three groups of three-dimensional data, and the unmanned aerial vehicle obtains the three-dimensional position of the unmanned aerial vehicle relative to the laser positioning device and obtains self attitude data at the same time; this unmanned aerial vehicle laser positioning device can realize the millimeter level location of real-time three-dimensional position as high accuracy space locator to can realize that the high accuracy route cruises, the high accuracy is decided highly, follows at a high speed, and the high accuracy suspension location, and can know the gesture of unmanned aerial vehicle self accurately.
Claims (6)
1. The utility model provides an unmanned aerial vehicle laser positioning device which characterized in that: the laser positioning device comprises an unmanned aerial vehicle with an unmanned aerial vehicle control unit, a laser receiver and a laser positioning device, wherein the laser receiver is arranged on the unmanned aerial vehicle, the laser receiver comprises a control unit which is used for receiving an electric signal, recording a time interval and calculating the rotation angular velocity information of four laser transmitters, an infrared photosensitive diode is also arranged in the laser receiver, and the control unit and the unmanned aerial vehicle control unit carry out data transmission through a communication protocol;
the laser positioning device comprises a laser emitter and a line laser scanning device, the laser emitter comprises a first laser emitter, a second laser emitter and a third laser emitter, the first laser emitter, the second laser emitter, the third laser emitter and the fourth laser emitter are coaxially and vertically arranged in sequence and are diverged downwards, an upper reflector group, a vertical long shaft and a lower reflector group which are driven by a gear to horizontally rotate and are coaxial with the four laser emitters are sequentially arranged between the first laser emitter and the second laser emitter from top to bottom, and the third laser emitter and the fourth laser emitter are arranged in the long shaft in sequence from top to bottom;
the upper reflector group comprises two reflectors which are obliquely arranged in an upper box and are used for reflecting two beams of laser emitted by the laser emitter A and the laser emitter D by 90 degrees and emitting the two beams of laser to the right and the right of the upper box, and the upper box is provided with one linear laser scanning device at the laser positions emitted by the laser emitter A and the laser emitter C;
the lower reflector group comprises a reflector which is obliquely arranged in the lower box and used for reflecting 90 degrees of laser emitted by the laser emitter B and the laser emitter C and emitting the laser to the right left and right of the lower box, and the lower box is provided with one line of laser scanning device at the laser emitted by the laser emitter B and the laser emitter C.
2. The unmanned aerial vehicle laser positioning device of claim 1, characterized in that: laser receiver has and has to have at least threely, follows respectively unmanned aerial vehicle focus evenly distributed.
3. The unmanned aerial vehicle laser positioning device of claim 1 or 2, wherein:
the control unit comprises the following steps to obtain accurate tracking and positioning information:
step A, a long shaft drives four laser transmitters to continuously rotate and scan in space, four lasers emitted by the four laser transmitters of the first, second and third beams continuously sweep over a laser receiver in a circumferential scanning mode to form a cylindrical surface which takes the horizontal distance from the laser receiver to the axes of the four laser transmitters as a radius and takes the axes of the four laser transmitters as the position of the axes;
step B, two laser beams which are inclined at 45 degrees and are emitted by the laser emitter B and the laser emitter A scan the laser receiver to generate two receiving signals with time intervals, the angle of two beams of laser scanning the laser receiver can be calculated, the linear distance of the two beams of laser scanning the laser receiver on the cylindrical surface corresponding to the angle is equal to the fixed length of the up-down distance between the two beams of laser emitted from the linear laser scanning device after being reflected by the laser emitter A and the laser emitter B, so that an isosceles triangle which is formed by the horizontal distance between the two laser emitters and the cylindrical surface where the laser receiver is located and has two waists, the vertex angle of the two beams of laser scanning the laser receiver and the bottom edge of the isosceles triangle which is the linear distance between the two beams of laser scanning the laser receiver on the cylindrical surface is formed, and the horizontal distance between the cylindrical surface where the laser receiver is located and the laser positioning device can be;
step C, scanning a vertical line laser and an oblique line laser emitted by a laser emitter C and a laser emitter B through a laser receiver to generate two receiving signals with time intervals, so that the angle of scanning the laser receiver can be calculated, wherein the angle of scanning the laser receiver is obtained by subtracting the half rotation period of the two laser emitters from the half rotation period of the laser emitter B and the half rotation period of the laser emitter C, so that two equivalently intersected laser scanning lines are obtained, the angle of scanning the laser receiver by the two laser lines is a vertex angle, the horizontal distance from the cylindrical surface of the laser receiver to the axial lines of the four laser emitters obtained in the step B is two sides, the linear distance from the two lasers to the laser receiver on the cylindrical surface is an isosceles triangle with a bottom side, the laser line emitted by the laser emitter B is an oblique 45 degrees, and the bottom length of the isosceles triangle formed by the geometrical relationship is equal to the geometrical center of the cylinder formed by the laser receiver to the four laser emitters A vertical height; if the angle of the laser emitter B and the laser emitter C which sweep the laser receiver minus the angle of the two laser emitters separated by half of the rotation period is a positive number, the laser receiver is arranged above the laser positioning device, and the other way round is arranged below the laser positioning device;
d, two adjacent scanning periods of the laser emitter sweep the laser receiver to generate a receiving signal with time intervals, so that the rotating angle of the laser after sweeping the laser receiver can be calculated, and the angle is the difference angle between the last scanning position and the current scanning position; setting the last scanning position as an initial position, wherein the position of the laser receiver scanned this time is the position of the last position after rotating by the angle, and the horizontal distance and the vertical distance between the laser receiver and the axis where the four laser transmitters are located are obtained from the above steps; converting the data into space three-dimensional coordinates, taking the center of coincidence of the four laser transmitters as a zero coordinate, and taking the initialization position as an x-axis position, and converting the three-dimensional coordinates of the laser receiver in the space relative to the axis of the four laser transmitters;
at least three-dimensional data obtained by the control unit in the laser receiver are transmitted to the unmanned aerial vehicle control unit through bus communication as a group of data, so that the unmanned aerial vehicle control unit obtains the position of the unmanned aerial vehicle in the space relative to the laser positioning device and the attitude of the unmanned aerial vehicle in the air.
4. The unmanned aerial vehicle laser positioning device of claim 3, characterized in that: a linear cylindrical lens is arranged in the linear laser scanning device, and the control unit is a micro control unit.
5. The unmanned aerial vehicle laser positioning device of claim 4, characterized in that: all the laser emitters emit invisible laser light with the wavelength of 980 nanometers.
6. The unmanned aerial vehicle laser positioning device of claim 5, characterized in that: the laser emitted by the laser emitter D is cone-shaped laser with a divergence angle of 3 degrees.
Priority Applications (1)
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