CN110928334A - Automatic tracking antenna holder system and method based on Beidou positioning - Google Patents
Automatic tracking antenna holder system and method based on Beidou positioning Download PDFInfo
- Publication number
- CN110928334A CN110928334A CN201911297882.1A CN201911297882A CN110928334A CN 110928334 A CN110928334 A CN 110928334A CN 201911297882 A CN201911297882 A CN 201911297882A CN 110928334 A CN110928334 A CN 110928334A
- Authority
- CN
- China
- Prior art keywords
- beidou positioning
- information
- control unit
- module
- steering engine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 41
- 230000005540 biological transmission Effects 0.000 claims abstract description 57
- 230000004044 response Effects 0.000 claims abstract description 18
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 41
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 claims description 19
- 230000008859 change Effects 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 7
- 101100182247 Caenorhabditis elegans lat-1 gene Proteins 0.000 claims description 4
- 101100182248 Caenorhabditis elegans lat-2 gene Proteins 0.000 claims description 3
- 238000000638 solvent extraction Methods 0.000 claims description 2
- 239000000203 mixture Substances 0.000 claims 1
- 239000002994 raw material Substances 0.000 claims 1
- 230000005855 radiation Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000012937 correction Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000007689 inspection Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 238000012552 review Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses an automatic tracking antenna holder system based on Beidou positioning, which comprises an unmanned aerial vehicle end, a receiving unit, a transmission unit and an unmanned aerial vehicle, wherein the transmission unit is connected with the receiving unit; the ground cloud platform end comprises a receiving unit, a control unit connected with the receiving unit and a response unit connected with the control unit, and the receiving unit is connected with the transmission unit; the acquisition unit comprises a first Beidou positioning module and an image acquisition module, and the first Beidou positioning module is used for acquiring first Beidou positioning information of the unmanned aerial vehicle; according to the invention, through Beidou positioning, the position of the unmanned aerial vehicle can be tracked more accurately, the approximate position of tracking is ensured to be correct by matching with the area array antenna, and the unmanned aerial vehicle is always in a radiation range through the rotation of the steering engine, so that the control stability of the unmanned aerial vehicle is improved.
Description
Technical Field
The invention relates to the technical field of tripod head tracking, in particular to an automatic tracking antenna tripod head system based on Beidou positioning.
Background
In the power industry, the unmanned aerial vehicle inspection has outstanding advantages, the efficiency is 40 times higher than that of the traditional manual inspection, and a plurality of risks are avoided for power company workers; in civilian field, unmanned aerial vehicle can be used to map survey and drawing, geological survey, calamity monitoring, meteorological detection, air traffic control, border patrol control, communication relay, pesticide spraying etc. has extensive application in military field unmanned aerial vehicle likewise.
However, in the process of actual use, the unmanned aerial vehicle is influenced by a complex scene, the operability of the unmanned aerial vehicle is greatly reduced, the unmanned aerial vehicle is out of control and crashed, the image transmission and control signals are easily interfered and the like, the signal intensity is greatly reduced when the unmanned aerial vehicle deviates from the control receiver, the transmitted image is blurred, and operation errors are caused.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The invention is provided in view of the problem that the existing automatic tracking antenna holder system based on Beidou positioning has the problems that the signal intensity is greatly reduced and the returned image is fuzzy when an unmanned aerial vehicle deviates from a control receiver.
Therefore, the invention aims to provide an automatic tracking antenna holder system based on Beidou positioning.
In order to solve the technical problems, the invention provides the following technical scheme: an automatic tracking antenna holder system based on Beidou positioning comprises,
the unmanned aerial vehicle comprises an unmanned aerial vehicle end and a control system, wherein the unmanned aerial vehicle end comprises an acquisition unit, a transmission unit connected with the acquisition unit and an unmanned aerial vehicle, and the acquisition unit and the transmission unit are both arranged on the unmanned aerial vehicle; and the number of the first and second groups,
the ground cloud platform end comprises a receiving unit, a control unit connected with the receiving unit and a response unit connected with the control unit, wherein the receiving unit is connected with the transmission unit.
As an optimal scheme of the automatic tracking antenna holder system and method based on Beidou positioning, the method comprises the following steps: the acquisition unit comprises a first Beidou positioning module and an image acquisition module, the first Beidou positioning module is used for acquiring first Beidou positioning information of the unmanned aerial vehicle, and the image acquisition module is used for acquiring image acquisition information;
the first Beidou positioning information is coordinate information of the unmanned aerial vehicle.
As an optimal scheme of the automatic tracking antenna holder system and method based on Beidou positioning, the method comprises the following steps: the transmission unit comprises a first lora data transmission module and an image transmission antenna, and the first Beidou positioning module and the image acquisition module respectively send first Beidou positioning information and image acquisition information through the first lora data transmission module and the image transmission antenna.
As an optimal scheme of the automatic tracking antenna holder system and method based on Beidou positioning, the method comprises the following steps: the second lora data transmission module of the receiving unit and the area array antenna respectively receive the first Beidou positioning information of the first Beidou positioning module and the image acquisition information of the image transmission antenna through wireless communication.
As an optimal scheme of the automatic tracking antenna holder system and method based on Beidou positioning, the method comprises the following steps: second Beidou positioning information, first Beidou positioning information and image acquisition information acquired by a second Beidou positioning module at the ground cloud platform end are transmitted to the control unit;
and the control unit receives and calculates the coordinate deviation of the second Beidou positioning information and the first Beidou positioning information.
As an optimal scheme of the automatic tracking antenna holder system and method based on Beidou positioning, the method comprises the following steps: the response unit comprises an image display module, a horizontal steering engine and a vertical steering engine, and the control unit is connected with the area array antenna, the image display module, the horizontal steering engine and the vertical steering engine;
and the control unit adjusts the angle of the area array antenna of the response unit according to the coordinate deviation.
As an optimal scheme of the automatic tracking antenna holder system and method based on Beidou positioning, the method comprises the following steps: an automatic antenna holder tracking method based on Beidou positioning comprises the following steps,
the unmanned aerial vehicle end sends first Beidou positioning information through a first lora data transmission module, and simultaneously sends image acquisition information to the ground cloud platform end through an image transmission antenna;
a second lora data transmission module at the ground cloud platform end receives first Beidou positioning information through wireless communication;
the control unit of the ground cloud platform end receives the first Beidou positioning information and the second Beidou positioning information through wiring and judges whether initial calibration is needed or not;
the control unit controls the horizontal steering engine and the vertical steering engine of the response unit at the ground holder end to make an angle which is the change of the normal direction of the area array antenna;
wherein, the control unit of ground platform end receives first big dipper locating information and second big dipper locating information through the wiring, judges whether need initial demarcation still includes the step:
if yes, the control unit performs initialization calibration according to the second Beidou positioning information;
the control unit starts a tracking mode, calculates first Beidou positioning information and second Beidou positioning information of the first Beidou positioning module and the second Beidou positioning module, and judges whether deviation exists or not;
wherein, the control unit of ground platform end receives first big dipper locating information and second big dipper locating information through the wiring, judges whether need initial demarcation still includes the step:
if not, the control unit starts a tracking mode, calculates first Beidou positioning information and second Beidou positioning information of the first Beidou positioning module and the second Beidou positioning module, and judges whether deviation exists.
As an optimal scheme of the automatic tracking antenna holder system and method based on Beidou positioning, the method comprises the following steps: the control unit of ground cloud platform end receives first big dipper locating information and second big dipper locating information through the wiring, and the step of judging whether need initial demarcation includes:
the ground platform end receives first Beidou positioning information and second Beidou positioning information transmitted by the first Beidou positioning module a and the second Beidou positioning module for the first time;
the control unit takes the positioning information of the second Beidou positioning module as a central origin O, establishes a three-dimensional rectangular space coordinate system based on longitude, latitude and height, takes north as the positive direction of an x axis, west as the positive direction of a y axis and vertical x-O-y plane upward as the positive direction of a z axis, and sets range partitions;
taking a point A which is distant from the origin in the positive direction of the y axis as a standard position comparison point;
the control unit controls the horizontal steering engine and the vertical steering engine to initialize deflection angles, so that the normal direction of the area array antenna points to the positive direction of the y axis, and initialization calibration is completed;
the first Beidou positioning information and the second Beidou positioning information are coordinate information, and the coordinate information comprises longitude, latitude and height.
As an optimal scheme of the automatic tracking antenna holder system and method based on Beidou positioning, the method comprises the following steps: the control unit opens the tracking mode, calculates first big dipper locating information and second big dipper locating information of first big dipper locating module and second big dipper locating module, judges whether have the concrete of deviation to include:
the control unit analyzes first Beidou positioning information of the first Beidou positioning module;
the control unit compares first big dipper locating information and second big dipper locating information of first big dipper locating module and second big dipper locating module, if first big dipper locating information is inequality with second big dipper locating information, then judges to have the deviation.
As an optimal scheme of the automatic tracking antenna holder system and method based on Beidou positioning, the method comprises the following steps: the step that the control unit controls the horizontal steering engine and the vertical steering engine of the response unit on the ground holder end to make the angle change in the normal direction of the area array antenna comprises the following steps:
the control unit reads first Beidou positioning information of the first Beidou positioning module, namely a point B, and projects the first Beidou positioning information of the first Beidou positioning module to an x-o-y plane, namely a point C;
the control unit determines a two-point distance method according to the longitude and latitude, calculates the projection distance | OC | of the first Beidou positioning module and the second Beidou positioning module on an x-o-y coordinate plane, and calculates the distance | AC | of the comparison point A between the point C and the standard position;
calculating an azimuth attack angle ∠ AOC of the horizontal steering engine and an elevation attack angle ∠ BOC of the vertical steering engine;
the control unit respectively calculates the pulse width of PWM waves required to be output for controlling the horizontal steering engine and the vertical steering engine according to the azimuth angle, the elevation angle and the analyzed spatial region;
the control unit controls the horizontal steering engine and the vertical steering engine to rotate, so that an included angle between a normal line of the area array antenna and an image transmission antenna at the unmanned aerial vehicle end is as small as possible, and the unmanned aerial vehicle returns to detect the position change of the unmanned aerial vehicle at the moment;
the method for determining the distance between the two points according to the longitude and the latitude specifically comprises the following steps:
assuming that A (lat1, ng1) and O (lat2, ng2), the distance between A and O is calculated on the spherical surface
In the formula, Wa and Wb are latitudes of A and O, and ja and jb are longitudes of A and O, respectively.
The invention has the beneficial effects that: according to the unmanned aerial vehicle tracking device, the position of the unmanned aerial vehicle can be more accurately tracked through Beidou positioning, the tracking approximate position is correct by matching with an area array antenna, the unmanned aerial vehicle is always in a radiation range through the rotation of the steering engine, the control stability of the unmanned aerial vehicle is improved, the signal intensity when the unmanned aerial vehicle deviates from a control receiver is improved, the accuracy of returned images is ensured, and the occurrence of operation errors is avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
fig. 1 is a schematic structural diagram of a system of the automatic tracking antenna holder system based on Beidou positioning.
Fig. 2 is a schematic diagram of a system detailed structure of the automatic tracking antenna holder system based on Beidou positioning.
Fig. 3 is a schematic diagram of a physical structure of the automatic tracking antenna holder system based on the Beidou positioning.
Fig. 4 is a schematic diagram of adjusting an area array antenna of the automatic tracking antenna holder system based on Beidou positioning.
FIG. 5 is a flow chart of the method for automatically tracking the antenna holder system based on Beidou positioning.
FIG. 6 is a flow chart of the method for automatically tracking the antenna holder system based on Beidou positioning according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
Furthermore, the present invention is described in detail with reference to the drawings, and in the detailed description of the embodiments of the present invention, the cross-sectional view illustrating the structure of the device is not enlarged partially according to the general scale for convenience of illustration, and the drawings are only exemplary and should not be construed as limiting the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
Example 1
Referring to fig. 1 and 2, an overall structure schematic diagram of an automatic tracking antenna holder system based on Beidou positioning is provided, and as shown in fig. 1, the automatic tracking antenna holder system based on Beidou positioning comprises an unmanned aerial vehicle end 100, which comprises an acquisition unit 101, a transmission unit 102 connected with the acquisition unit 101 and an unmanned aerial vehicle 103, wherein the acquisition unit 101 and the transmission unit 102 are both arranged on the unmanned aerial vehicle 103; and the ground cloud platform end 200 comprises a receiving unit 201, a control unit 202 connected with the receiving unit 201, and a response unit 203 connected with the control unit 202, wherein the receiving unit 201 is connected with the transmission unit 102.
Specifically, the main structure of the unmanned aerial vehicle comprises an unmanned aerial vehicle end 100 and a ground cloud platform end 200, the unmanned aerial vehicle end 100 and the ground cloud platform end 200 are matched with each other, the position of the unmanned aerial vehicle can be tracked more accurately, an area array antenna is matched, the approximately correct tracking position is ensured, the unmanned aerial vehicle is always in a radiation range through the rotation of a steering engine, the stability of unmanned aerial vehicle control is improved, namely the signal intensity of the unmanned aerial vehicle when the unmanned aerial vehicle deviates from a control receiver is improved, the accuracy of returned images is ensured, and operation errors are avoided, wherein the unmanned aerial vehicle end 100 comprises an acquisition unit 101, a transmission unit 102 connected with the acquisition unit 101 and the unmanned aerial vehicle 103, the acquisition unit 101 and the transmission unit 102 are both installed on the unmanned aerial vehicle 103, an operator controls the takeoff, landing and direction of the unmanned aerial vehicle 103 through a remote control rod and keys of a remote controller, the acquisition unit 101 is used for positioning coordinates, the transmission unit 102 is used for transmitting the positioning coordinates and the collected images collected by the collection unit 101; and the ground platform end 200 plays a role in start regulation, and includes a receiving unit 201, a control unit 202 connected to the receiving unit 201, and a response unit 203 connected to the control unit 202, where the receiving unit 201 is connected to the transmission unit 102, and the control unit 202 is an MCU controller, and in this embodiment, its model is STM32F 103.
Further, the acquisition unit 101 includes a first beidou positioning module 101a and an image acquisition module 101b, the first beidou positioning module 101a is used for acquiring first beidou positioning information of the unmanned aerial vehicle, the image acquisition module 101b is used for acquiring image acquisition information, the image acquisition information is a current visual field of the unmanned aerial vehicle 103, wherein, the first beidou positioning information is coordinate information of the unmanned aerial vehicle, the coordinate information includes longitude (lng), latitude (lat) and height (height) coordinates of the unmanned aerial vehicle, the image acquisition information is used for knowing a current state of the unmanned aerial vehicle and extracting useful information for secondary development of an image, it needs to be explained that the image acquisition module 101b is a camera, and the camera can be divided into a camera for acquiring the visual field and a camera for acquiring a special demand image according to usage.
Further, the transmission unit 102 includes a first lora data transmission module 102a and an image transmission antenna 102b, and the first beidou positioning module 101a and the image acquisition module 101b respectively send first beidou positioning information and image acquisition information through the first lora data transmission module 102a and the image transmission antenna 102 b; it should be noted that, in the present invention, the first lora data transmission module 102a and the second lora data transmission module 201a are used for data transmission, and the transmission characteristics of low power consumption and long distance enable the transmission of the position information in the system to be more efficient and the energy consumption to be lower.
Example 2
Referring to fig. 2, this embodiment is different from the first embodiment in that: the ground cloud platform end 200 comprises a receiving unit 201, a control unit 202 connected with the receiving unit 201 and a response unit 203 connected with the control unit 202, the receiving unit 201 is connected with the transmission unit 102, the area array antenna can be calibrated through double Beidou positioning, the accuracy of tracking of the automatic tracking cloud platform is improved, and the definition of a returned image is guaranteed. Specifically, the second lora data transmission module 201a and the array antenna 201b of the receiving unit 201 respectively receive the first beidou positioning information of the first beidou positioning module 101a and the image acquisition information of the image acquisition module 101b through wireless communication; second Beidou positioning information, first Beidou positioning information and image acquisition information acquired by a second Beidou positioning module 204 of the ground cloud platform end 200 are transmitted to a control unit 202, and the second Beidou positioning information is coordinates of the cloud platform end; the control unit 202 receives and calculates the coordinate deviation between the second beidou positioning information and the first beidou positioning information.
Further, the response unit 203 comprises an image display module 203a, a horizontal steering engine 203c and a vertical steering engine 203b, and the control unit 202 is connected with the array antenna 203a, the image display module 203a, the horizontal steering engine 203c and the vertical steering engine 203 b; the control unit 202 adjusts the angle of the area array antenna 201b of the response unit 203 according to the coordinate deviation, and it should be noted that the image display module 203a is an LCD display screen, a tablet or a computer.
Example 3
Referring to fig. 2, this embodiment is different from the first embodiment in that: the scheme is an automatic antenna holder tracking method based on Beidou positioning, which comprises the steps of,
s1: the unmanned aerial vehicle end 100 sends first Beidou positioning information through the first lora data transmission module 102a, and simultaneously sends image acquisition information to the ground cloud platform end 200 through the image transmission antenna 102 b;
s2: the second lora data transmission module 201a of the ground cloud platform end 200 receives the first beidou positioning information through wireless communication.
S3: the control unit 202 of the ground cloud platform end 200 receives the first Beidou positioning information and the second Beidou positioning information through wiring, and judges whether initial calibration is needed or not;
further, the control unit 202 of the ground platform end 200 receives the first big dipper positioning information and the second big dipper positioning information through wiring, and determines whether the initial calibration is needed further includes the steps of:
if yes, the control unit 202 performs initialization calibration according to the second Beidou positioning information;
the control unit 202 starts a tracking mode, calculates first Beidou positioning information and second Beidou positioning information of the first Beidou positioning module 101a and the second Beidou positioning module 204, and judges whether deviation exists;
further, the control unit 202 of the ground platform end 200 receives the first big dipper positioning information and the second big dipper positioning information through wiring, and determines whether the initial calibration is needed further includes the steps of:
if not, the control unit 202 starts a tracking mode, calculates first Beidou positioning information and second Beidou positioning information of the first Beidou positioning module 101a and the second Beidou positioning module 204, and judges whether deviation exists;
it should be noted that, the control unit 202 starts the tracking mode, calculates the first beidou positioning information and the second beidou positioning information of the first beidou positioning module 101a and the second beidou positioning module 204, and determines whether there is a deviation, and further includes:
if yes, go to step S4;
if not, the process proceeds to step S1.
The specific step of judging whether the deviation exists includes:
the control unit 202 analyzes first Beidou positioning information of the first Beidou positioning module 101 a;
the control unit 202 compares the first big dipper positioning information and the second big dipper positioning information of the first big dipper positioning module 101a and the second big dipper positioning module 204, and if the first big dipper positioning information and the second big dipper positioning information are different, the control unit judges that there is a deviation.
Further, the control unit 202 of the ground platform end 200 receives the first big dipper positioning information and the second big dipper positioning information through wiring, and the step of judging whether the initial calibration is needed includes:
s31: the ground cloud platform end 200 receives the first Beidou positioning information and the second Beidou positioning information transmitted by the first Beidou positioning module 101a and the second Beidou positioning module 204 for the first time; the first Beidou positioning information and the second Beidou positioning information are coordinate information, and the coordinate information comprises longitude (lng), latitude (lat) and height (height);
s32: the control unit 202 establishes a three-dimensional rectangular space coordinate system based on longitude, latitude and height by taking the positioning information of the second Beidou positioning module 204 as a central origin O, takes north as the positive direction of an x axis, west as the positive direction of a y axis and vertical x-O-y plane upward as the positive direction of a z axis, and sets range partitioning;
s33: taking a point A which is 500 meters away from the origin (namely, the longitude of the point A is different from the longitude of the origin by about 0.005 degrees) in the positive direction of the y axis as a standard position comparison point;
s34: the control unit 202 controls the horizontal steering engine 203c and the vertical steering engine 203b to initialize the deflection angle, that is, outputs a PWM wave with a pulse width of 0.5ms (with a period of 20ms) to the vertical and horizontal steering engines, so that the normal direction of the area array antenna 201b points to the positive direction of the y axis, and the initialization calibration is completed.
S4: the control unit 202 controls the horizontal steering engine 203c and the vertical steering engine 203b of the response unit 203 on the ground platform end 200 to make an angle so as to change the normal direction of the area array antenna 201 b; specifically, a stm32f103MCU sends a PWM signal to drive a steering engine to rotate so as to drive an area array antenna to rotate;
the step that the control unit 202 controls the horizontal steering engine 203c and the vertical steering engine 203b of the response unit 203 on the ground platform end 200 to make an angle (namely, the rotation angle of the steering engines) is the change of the normal direction of the area array antenna includes:
s41: the control unit 202 reads first Beidou positioning information of the first Beidou positioning module 101a, namely, the first Beidou positioning information of the first Beidou positioning module 101a is point B, and the first Beidou positioning information is projected to an x-o-y plane and is point C;
s42: the control unit 202 determines a two-point distance method according to the longitude and latitude, calculates the projection distance | OC | of the first Beidou positioning module 101a and the second Beidou positioning module 204 on the x-o-y coordinate plane, and calculates the distance | AC | of the point C and the standard position comparison point A;
s43, calculating an azimuth attack angle ∠ AOC of the horizontal steering engine and an elevation attack angle ∠ BOC of the vertical steering engine;
s44: the control unit 202 calculates the pulse widths of the PWM waves to be output for controlling the horizontal steering engine 203c and the vertical steering engine 203b, respectively, according to the azimuth angle, the elevation angle and the spatial region analyzed in S41;
s45: the control unit 202 controls the horizontal steering engine 203c and the vertical steering engine 203b to rotate, so that an included angle between a normal of the area array antenna 201b and the image transmission antenna 102b of the unmanned aerial vehicle end 100 is as small as possible, and the unmanned aerial vehicle position change is detected at the moment of returning;
the method for determining the distance between the two points according to the longitude and the latitude specifically comprises the following steps:
assuming that A (lat1, ng1) and O (lat2, ng2), the distance between A and O is calculated on the spherical surface
Wherein Wa and Wb are the latitudes of A and O respectively, and ja and jb are the longitudes of A and O respectively;
wherein, it specifically does to calculate horizontal steering wheel azimuth angle ∠ AOC and vertical rudder machine angle of attack ∠ BOC:
in the judgment of the compensation angle, based on the current position coordinate A (lat1, ng1) and space region division, if the current position coordinate A is in the first and second trigrams, angle correction is not needed; if the angle is in the third and fourth octaves, the angle in the vertical direction needs to be increased by 90 degrees, and the angle in the vertical direction needs to be increased by 90 degrees.
And finally, calculating the pulse value of the duty ratio of the pulse given to the steering engine as follows:
based on the horizontal deflection angle and the vertical deflection angle, a pulse value MotorPulse _ N0 which should deviate from the horizontal position at the current moment and a pulse value MotorPulse _ N1 which should deviate from the vertical position are calculated.
MotorPulse_N0＝(Dir_angle*180/pi)*least_per+160。
Where Dir _ angle is the horizontal rotation angle (after correction), and least _ per is rotated by 1 degree for the PWM duty.
MotorPulse_N1＝(Ver_angle*180/pi)*least_per+160。
Where Ver _ angle is the vertical rotation angle (after correction), and least _ per is rotated by 1 degree for the PWM duty cycle.
According to the invention, the position of the unmanned aerial vehicle can be accurately tracked through Beidou positioning, and the unmanned aerial vehicle can be always in a radiation range through the rotation of the steering engine by matching with an area array antenna; by calibrating the automatic tracking antenna holder system, the system can work more efficiently and reliably each time, and the stability of system control is improved; in the unmanned aerial vehicle tracking mode, the system updates the calculated value according to the real-time position, corrects the deviation error of rotation according to the actual condition, further improves the accuracy of automatic tracking of the pan-tilt, and realizes the definition of a returned image without time delay; the whole method can be automatically realized only by calculation according to the unmanned position information, the resetting calibration method is simple to operate, can be used after being electrified, and is convenient to realize and popularize.
The specific process comprises the following steps: after the automatic tracking antenna holder system is started, the unmanned aerial vehicle 103 is placed near the ground cloud platform end 200, an initialization key on the ground cloud platform end 200 is pressed, and the MCU controller transmits position information back through the first lora data transmission module 102a according to the first Beidou positioning module; initially calibrating the position of the ground cloud platform end 200, and establishing a virtual space coordinate system; after initial calibration, no operation is needed in principle except for the situation that the ground cloud platform end 200 shifts positions and the like after writing; the MCU controller calculates according to the value of the first lora data transmission module 102a, calculates the horizontal and vertical distances between the unmanned aerial vehicle 103 and the ground platform end 200 according to the position information of the unmanned aerial vehicle, and enters an active tracking mode; after the automatic tracking antenna holder system actively tracks; the MCU controller judges whether a compensation angle needs to be added according to the spatial position of the unmanned aerial vehicle 103, and finally calculates the angle of attack of the horizontal and vertical steering engines according to the related distance, so that real-time tracking is realized, the unmanned aerial vehicle 103 is positioned in the radiation center of the area array antenna as far as possible, and clear return of an image is achieved without time delay; unmanned aerial vehicle flies out the regulation region, and the warning can appear in the display screen, needs to descend unmanned aerial vehicle this moment, changes ground cloud platform position.
It is important to note that the construction and arrangement of the present application as shown in the various exemplary embodiments is illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters (e.g., temperatures, pressures, etc.), mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter recited in this application. For example, elements shown as integrally formed may be constructed of multiple parts or elements, the position of elements may be reversed or otherwise varied, and the nature or number of discrete elements or positions may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of this invention. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present inventions. Therefore, the present invention is not limited to a particular embodiment, but extends to various modifications that nevertheless fall within the scope of the appended claims.
Moreover, in an effort to provide a concise description of the exemplary embodiments, all features of an actual implementation may not be described (i.e., those unrelated to the presently contemplated best mode of carrying out the invention, or those unrelated to enabling the invention).
It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure, without undue experimentation.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (10)
1. The utility model provides an automatic tracking antenna cloud platform system based on big dipper location which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
the unmanned aerial vehicle terminal (100) comprises an acquisition unit (101), a transmission unit (102) connected with the acquisition unit (101) and an unmanned aerial vehicle (103), wherein the acquisition unit (101) and the transmission unit (102) are both arranged on the unmanned aerial vehicle (103); and the number of the first and second groups,
the ground cloud platform end (200) comprises a receiving unit (201), a control unit (202) connected with the receiving unit (201), and a response unit (203) connected with the control unit (202), wherein the receiving unit (201) is connected with the transmission unit (102).
2. The Beidou positioning based automatic tracking antenna pan-tilt system of claim 1, wherein: the acquisition unit (101) comprises a first Beidou positioning module (101a) and an image acquisition module (101b), wherein the first Beidou positioning module (101a) is used for acquiring first Beidou positioning information of the unmanned aerial vehicle, and the image acquisition module (101b) is used for acquiring image acquisition information;
the first Beidou positioning information is coordinate information of the unmanned aerial vehicle.
3. The Beidou positioning based automatic tracking antenna pan-tilt system of claim 2, wherein: the transmission unit (102) comprises a first lora data transmission module (102a) and an image transmission antenna (102b), and the first Beidou positioning module (101a) and the image acquisition module (101b) respectively send first Beidou positioning information and image acquisition information through the first lora data transmission module (102a) and the image transmission antenna (102 b).
4. The automatic tracking antenna holder system based on Beidou positioning according to any one of claims 1 to 3, wherein: the second lora data transmission module (201a) and the array antenna (201b) of the receiving unit (201) respectively receive first Beidou positioning information of the first Beidou positioning module (101a) and image acquisition information of the image transmission antenna (102b) through wireless communication.
5. The Beidou positioning based automatic tracking antenna pan-tilt system of claim 4, wherein: second Beidou positioning information, first Beidou positioning information and image acquisition information acquired by a second Beidou positioning module (204) of the ground cloud platform end (200) are transmitted to the control unit (202);
the control unit (202) receives and calculates coordinate deviation of the second Beidou positioning information and the first Beidou positioning information.
6. The Beidou positioning based automatic tracking antenna pan-tilt system of claim 5, wherein: the response unit (203) comprises an image display module (203a), a horizontal steering engine (203c) and a vertical steering engine (203b), and the control unit (202) is connected with the area array antenna (201b), the image display module (203a), the horizontal steering engine (203c) and the vertical steering engine (203 b);
wherein the control unit (202) adjusts the angle of the area array antenna (201b) of the response unit (203) according to the coordinate deviation.
7. An automatic antenna holder tracking method based on Beidou positioning is characterized in that: comprises the steps of (a) carrying out,
s1: the unmanned aerial vehicle end (100) sends first Beidou positioning information through a first lora data transmission module (102a), and simultaneously sends image acquisition information to the ground cloud platform end (200) through an image transmission antenna (102 b);
s2: a second lora data transmission module (201a) of the ground cloud platform end (200) receives first Beidou positioning information through wireless communication;
s3: a control unit (202) of the ground cloud platform end (200) receives the first Beidou positioning information and the second Beidou positioning information through wiring, and judges whether initial calibration is needed or not;
s4: the control unit (202) controls a horizontal steering engine (203c) and a vertical steering engine (203b) of a response unit (203) on the ground cloud platform end (200) to make an angle so as to change the normal direction of the area array antenna (201 b);
wherein, the control unit (202) of ground platform end (200) receives first big dipper locating information and second big dipper locating information through the wiring, judges whether need initial demarcation still includes the step:
if yes, the control unit (202) carries out initialization calibration according to the second Beidou positioning information;
the control unit (202) starts a tracking mode, calculates first Beidou positioning information and second Beidou positioning information of the first Beidou positioning module (101a) and the second Beidou positioning module (204), and judges whether deviation exists or not;
wherein, the control unit (202) of ground platform end (200) receives first big dipper locating information and second big dipper locating information through the wiring, judges whether need initial demarcation still includes the step:
if not, the control unit (202) starts a tracking mode, calculates first Beidou positioning information and second Beidou positioning information of the first Beidou positioning module (101a) and the second Beidou positioning module (204), and judges whether deviation exists.
8. The Beidou positioning based automatic tracking antenna pan-tilt method of claim 7, characterized in that: the control unit (202) of ground cloud platform end (200) receives first big dipper locating information and second big dipper locating information through the wiring, and the step of judging whether need initial demarcation includes:
the ground cloud platform end (200) receives first Beidou positioning information and second Beidou positioning information transmitted by a first Beidou positioning module (101a) and a second Beidou positioning module (204) for the first time;
the control unit (202) takes the positioning information of the second Beidou positioning module (204) as a center origin O, establishes a three-dimensional rectangular space coordinate system based on longitude, latitude and height, takes north as the positive direction of an x axis, west as the positive direction of a y axis and vertical x-O-y plane upward as the positive direction of a z axis, and sets range partitioning;
taking a point A which is 500 meters away from the origin in the positive direction of the y axis as a standard position comparison point;
the control unit (202) controls a horizontal steering engine (203c) and a vertical steering engine (203b) to initialize deflection angles, so that the normal direction of the area array antenna points to the positive direction of the y axis, and initialization calibration is completed;
the first Beidou positioning information and the second Beidou positioning information are coordinate information, and the coordinate information comprises longitude (lng), latitude (lat) and height (height).
9. The Beidou positioning based automatic tracking antenna pan-tilt method of claim 8, characterized in that: the control unit (202) starts a tracking mode, calculates first Beidou positioning information and second Beidou positioning information of the first Beidou positioning module (101a) and the second Beidou positioning module (204), and judges whether a deviation exists or not, wherein the tracking mode comprises the following steps:
the control unit (202) analyzes first Beidou positioning information of the first Beidou positioning module (101 a);
the control unit (202) compares first big dipper locating information and second big dipper locating information of first big dipper locating module (101a) and second big dipper locating module (204), if first big dipper locating information is inequality with second big dipper locating information, then judges that there is the deviation.
10. The Beidou positioning based automatic tracking antenna pan-tilt method of claim 9, characterized in that: the step that the control unit (202) controls a horizontal steering engine (203c) and a vertical steering engine (203b) of a response unit (203) on the ground cloud platform end (200) to make an angle between the horizontal steering engine and the vertical steering engine to change the normal direction of the area array antenna comprises the following steps:
the control unit (202) reads first Beidou positioning information of the first Beidou positioning module (101a), namely a point B, and projects the first Beidou positioning information of the first Beidou positioning module (101a) to an x-o-y plane, namely a point C;
the control unit (202) determines a two-point distance method according to longitude and latitude, calculates the projection distance | OC | of the first Beidou positioning module (101a) and the second Beidou positioning module (204) on an x-o-y coordinate plane, and calculates the distance | AC | of the comparison point A between the point C and a standard position;
calculating an azimuth attack angle ∠ AOC of the horizontal steering engine and an elevation attack angle ∠ BOC of the vertical steering engine;
the control unit (202) respectively calculates the pulse width of PWM waves required to be output for controlling the horizontal steering engine (203c) and the vertical steering engine (203b) according to the azimuth angle, the elevation angle and the analyzed spatial region;
the control unit (202) controls the horizontal steering engine (203c) and the vertical steering engine (203b) to rotate, so that the included angle between the normal of the area array antenna (201b) and the image transmission antenna (102b) of the unmanned aerial vehicle end (100) is as small as possible, and the position change of the unmanned aerial vehicle is detected at the moment of returning;
the method for determining the distance between the two points according to the longitude and the latitude specifically comprises the following steps:
assuming that A (lat1, ng1) and O (lat2, ng2), the distance between A and O is calculated on the spherical surface
In the formula, Wa and Wb are latitudes of A and O, and ja and jb are longitudes of A and O, respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911297882.1A CN110928334A (en) | 2019-12-17 | 2019-12-17 | Automatic tracking antenna holder system and method based on Beidou positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911297882.1A CN110928334A (en) | 2019-12-17 | 2019-12-17 | Automatic tracking antenna holder system and method based on Beidou positioning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110928334A true CN110928334A (en) | 2020-03-27 |
Family
ID=69863884
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911297882.1A Pending CN110928334A (en) | 2019-12-17 | 2019-12-17 | Automatic tracking antenna holder system and method based on Beidou positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110928334A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111930151A (en) * | 2020-07-14 | 2020-11-13 | 西安爱生无人机技术有限公司 | Ground measurement and control system for industrial-grade unmanned aerial vehicle |
| CN112202831A (en) * | 2020-08-24 | 2021-01-08 | 中电科芜湖通用航空产业技术研究院有限公司 | Transfer method of airplane data based on LoRa communication and airplane ground detection system |
| CN113691781A (en) * | 2021-08-26 | 2021-11-23 | 四川汇源光通信有限公司 | Unmanned aerial vehicle tracking and aiming communication system and method based on double-light fusion |
| CN113687398A (en) * | 2021-08-26 | 2021-11-23 | 四川汇源光通信有限公司 | Unmanned aerial vehicle tracking and aiming communication system and method based on Beidou differential positioning |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19543321A1 (en) * | 1995-11-21 | 1997-05-22 | Diehl Gmbh & Co | Method and device for the wireless exchange of information between stations |
| CN203773355U (en) * | 2013-12-05 | 2014-08-13 | 梁谋强 | Three-dimensional multi-image layer type unmanned aerial vehicle real-time positioning monitoring device |
| CN105763651A (en) * | 2016-04-29 | 2016-07-13 | 广东能飞航空科技发展有限公司 | Automatic tracking remote image transmission system |
| CN107329160A (en) * | 2017-05-17 | 2017-11-07 | 四川建筑职业技术学院 | A kind of unmanned plane antenna direction tracing system positioned based on the Big Dipper |
| WO2018049257A1 (en) * | 2016-09-08 | 2018-03-15 | Ubiqomm Llc | Ground terminal and uav beam pointing in an unmanned aerial vehicle (uav) for network access |
| CN110441802A (en) * | 2019-08-12 | 2019-11-12 | 四川航天系统工程研究所 | A kind of helicopter monitoring system based on Beidou positioning |
| CN211653506U (en) * | 2019-12-17 | 2020-10-09 | 上海电力大学 | Automatic tracking antenna holder system based on Beidou positioning |
-
2019
- 2019-12-17 CN CN201911297882.1A patent/CN110928334A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19543321A1 (en) * | 1995-11-21 | 1997-05-22 | Diehl Gmbh & Co | Method and device for the wireless exchange of information between stations |
| CN203773355U (en) * | 2013-12-05 | 2014-08-13 | 梁谋强 | Three-dimensional multi-image layer type unmanned aerial vehicle real-time positioning monitoring device |
| CN105763651A (en) * | 2016-04-29 | 2016-07-13 | 广东能飞航空科技发展有限公司 | Automatic tracking remote image transmission system |
| WO2018049257A1 (en) * | 2016-09-08 | 2018-03-15 | Ubiqomm Llc | Ground terminal and uav beam pointing in an unmanned aerial vehicle (uav) for network access |
| CN107329160A (en) * | 2017-05-17 | 2017-11-07 | 四川建筑职业技术学院 | A kind of unmanned plane antenna direction tracing system positioned based on the Big Dipper |
| CN110441802A (en) * | 2019-08-12 | 2019-11-12 | 四川航天系统工程研究所 | A kind of helicopter monitoring system based on Beidou positioning |
| CN211653506U (en) * | 2019-12-17 | 2020-10-09 | 上海电力大学 | Automatic tracking antenna holder system based on Beidou positioning |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111930151A (en) * | 2020-07-14 | 2020-11-13 | 西安爱生无人机技术有限公司 | Ground measurement and control system for industrial-grade unmanned aerial vehicle |
| CN112202831A (en) * | 2020-08-24 | 2021-01-08 | 中电科芜湖通用航空产业技术研究院有限公司 | Transfer method of airplane data based on LoRa communication and airplane ground detection system |
| CN113691781A (en) * | 2021-08-26 | 2021-11-23 | 四川汇源光通信有限公司 | Unmanned aerial vehicle tracking and aiming communication system and method based on double-light fusion |
| CN113687398A (en) * | 2021-08-26 | 2021-11-23 | 四川汇源光通信有限公司 | Unmanned aerial vehicle tracking and aiming communication system and method based on Beidou differential positioning |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110928334A (en) | Automatic tracking antenna holder system and method based on Beidou positioning | |
| CN211653506U (en) | Automatic tracking antenna holder system based on Beidou positioning | |
| CN109911188B (en) | Bridge detection unmanned aerial vehicle system in non-satellite navigation and positioning environment | |
| CN110926468B (en) | Communication-in-motion antenna multi-platform navigation attitude determination method based on transfer alignment | |
| CN105515689B (en) | A kind of system and method for intelligent mobile terminal auxiliary directional antenna direction adjustment | |
| CN103895584B (en) | Movable lifting type vehicle-mounted panorama holder with high precision locating function | |
| CN108759819A (en) | A kind of polarization navigation real-time location method based on omnimax polarization degree information | |
| CN106226780A (en) | Many rotor-wing indoors alignment system based on scanning laser radar and implementation method | |
| CN208027170U (en) | A kind of power-line patrolling unmanned plane and system | |
| CN109141215A (en) | GNSS monitoring data processing method based on inclination angle sensing | |
| CN109669203A (en) | A kind of GNSS 3 d pose positioning piling navigation aid system and method | |
| CN107589431B (en) | Target calibration method for improving target positioning accuracy of airborne photoelectric system | |
| CN112928444A (en) | Shipborne universal antenna in motion | |
| CN115876197A (en) | Mooring lifting photoelectric imaging target positioning method | |
| CN109991993A (en) | The double flight control systems in the world based on RTK Differential positioning and winged control | |
| CN107884781B (en) | Tracking and ranging method for double unmanned aerial vehicles | |
| KR101349384B1 (en) | Leveling survey system to confirm the position of constructure having the datum point | |
| CN107806854B (en) | Flat antenna angle measurement method based on unmanned aerial vehicle photographing and GPS information | |
| CN115900755A (en) | Target pointing automatic correction method and target for realizing same | |
| CN109471102A (en) | A kind of used grouping error modification method | |
| CN112462322B (en) | Positioning method and positioning system for underwater frogman | |
| KR101349117B1 (en) | Apparatus for measuring national level control point using equal distance survey in geodetic surveying | |
| CN203772276U (en) | Independent mapping equipment | |
| CN112013716A (en) | Method for capturing fast moving target by television seeker simulation system | |
| CN205880223U (en) | Indoor positioning system of many rotors based on laser scanning radar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20200327 Assignee: Anhui Yihe Machinery Co.,Ltd. Assignor: Shanghai University of Electric Power Contract record no.: X2024310000015 Denomination of invention: An automatic tracking antenna pan tilt system and method based on Beidou positioning License type: Common License Record date: 20240130 |