CN110986937A - Navigation device and method for unmanned equipment and unmanned equipment - Google Patents

Navigation device and method for unmanned equipment and unmanned equipment Download PDF

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Publication number
CN110986937A
CN110986937A CN201911320657.5A CN201911320657A CN110986937A CN 110986937 A CN110986937 A CN 110986937A CN 201911320657 A CN201911320657 A CN 201911320657A CN 110986937 A CN110986937 A CN 110986937A
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information
receiver
determining
antenna
speed
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CN110986937B (en
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周小红
申浩
郝立良
廖方波
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Beijing Sankuai Online Technology Co Ltd
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Beijing Sankuai Online Technology Co Ltd
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Priority to PCT/CN2020/092392 priority patent/WO2021120525A1/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

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  • 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)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The disclosure relates to a navigation device and method for an unmanned device and the unmanned device. This unmanned aerial vehicle is last to be provided with first antenna and second antenna, and the device includes: the first receiver is coupled with the first antenna and used for determining first position information and first speed information of the first antenna according to a first radio frequency signal transmitted by the first antenna; the second receiver is coupled with the second antenna and used for determining second position information of the second antenna according to a second radio frequency signal sent by the second antenna; the inertial measurement unit is used for acquiring acceleration information and angular velocity information; and the processor component is used for determining the current course angle information of the unmanned equipment according to the first position information and the second position information, and determining the target navigation information of the unmanned equipment according to the current course angle information, the first position information, the first speed information, the acceleration information and the angular speed information. Therefore, the precision and the accuracy of the target navigation information are improved, and accurate and effective navigation information is provided for the unmanned equipment.

Description

Navigation device and method for unmanned equipment and unmanned equipment
Technical Field
The present disclosure relates to the field of navigation, and in particular, to a navigation apparatus and method for an unmanned aerial vehicle, and an unmanned aerial vehicle.
Background
Unmanned equipment, such as unmanned distribution vehicles, are increasingly used in the fields of distribution, logistics, and the like. The unmanned distribution vehicle is supported by a high-precision navigation technology, and only accurate navigation information is provided, so that the safe and accurate distribution of the unmanned distribution vehicle can be ensured, and high-quality distribution service is provided for users.
Among navigation techniques, the inertial navigation technique is highly autonomous and can provide continuous navigation information, but navigation errors accumulate with time. The satellite navigation technical error is not accumulated along with time, the long-term precision is high, and the satellite navigation technical error is easily influenced by random factors such as building shielding and electromagnetic interference.
Disclosure of Invention
The purpose of the present disclosure is to provide a navigation apparatus and method for an unmanned device, and an unmanned device, which can provide accurate and effective navigation information for the unmanned device.
In order to achieve the above object, in a first aspect, there is provided a navigation apparatus for an unmanned aerial device on which a first antenna and a second antenna are provided, the apparatus comprising: a first receiver, coupled to the first antenna, for determining first position information and first velocity information of the first antenna according to a first radio frequency signal transmitted by the first antenna; the second receiver is coupled with the second antenna and used for determining second position information of the second antenna according to a second radio frequency signal sent by the second antenna; the inertial measurement unit is used for acquiring acceleration information and angular velocity information; and the processor component is used for determining the current course angle information of the unmanned equipment according to the first position information and the second position information, and determining the target navigation information of the unmanned equipment according to the current course angle information, the first position information, the first speed information, the acceleration information and the angular speed information.
Optionally, the processor component is configured to determine current heading angle information of the unmanned device according to the first location information and the second location information when the states of the first receiver and the second receiver satisfy a preset condition.
Optionally, the preset condition comprises at least one of: the time when the first receiver sends the first position information is the same as the time when the second receiver sends the second position information; the first receiver and the second receiver both meet the real-time dynamic carrier phase differential positioning condition; the position precision strength of the first receiver is smaller than a preset strength threshold; the first longitude error standard deviation and the first latitude error standard deviation of the first receiver and the second longitude error standard deviation and the second latitude error standard deviation of the second receiver are both smaller than a preset standard deviation threshold value.
Optionally, the processor component includes a first processor and a second processor, wherein the first processor is connected to the first receiver and the second receiver, and is configured to determine current heading angle information of the unmanned device according to the first location information and the second location information; the second processor is connected with the first processor and is used for determining target navigation information of the unmanned equipment according to the current course angle information, the first position information, the first speed information, the acceleration information and the angular speed information, wherein the second processor is connected with the inertial measurement unit to receive the acceleration information and the angular speed information from the inertial measurement unit, or the first processor is connected with the inertial measurement unit to receive the acceleration information and the angular speed information from the inertial measurement unit and forward the acceleration information and the angular speed information to the second processor.
Optionally, the first receiver is further configured to send a pulse signal to the processor component every preset duration; the processor assembly is further used for sending a trigger signal to the inertial measurement unit after receiving the pulse signal so as to trigger the inertial measurement unit to send the acceleration information and the angular velocity information.
Optionally, the processor assembly is configured to: determining initial pitch angle information and initial roll angle information of the unmanned equipment according to the acceleration information; determining current navigation information of the unmanned equipment according to the current course angle information, the first position information, the first speed information, the acceleration information, the angular speed information, the initial pitch angle information and the initial roll angle information; acquiring second speed information of the inertia measurement unit; and correcting the current navigation information according to the first speed information and the second speed information to obtain the target navigation information of the unmanned equipment.
Optionally, the modifying the current navigation information according to the first speed information and the second speed information includes: determining a filtering observation according to the first speed information and the second speed information; carrying out filtering processing according to the filtering observed quantity to obtain a filtering state quantity; and correcting the current navigation information according to the filtering state quantity to obtain the target navigation information of the unmanned equipment.
Optionally, the first receiver is further configured to send a pulse signal to the processor component every preset duration; the processor component is further used for determining a time difference between the time when the pulse signal is received last time and the time when the pulse signal is received last time according to the time when the first position information and the first speed information sent by the first receiver are received; determining a filtering observation according to the first speed information and the second speed information includes: determining the speed variation of the first antenna according to the time difference, and correcting the first speed information according to the speed variation to obtain third speed information of the first antenna; and determining the filtering observed quantity according to the second speed information and the third speed information.
In a second aspect, a navigation method for an unmanned device is provided, the unmanned device having a first antenna and a second antenna disposed thereon, the method comprising: determining first position information and first speed information of the first antenna according to a first radio frequency signal sent by the first antenna; determining second position information of the second antenna according to a second radio frequency signal sent by the second antenna; acquiring acceleration information and angular velocity information; determining the current course angle information of the unmanned equipment according to the first position information and the second position information, and determining the target navigation information of the unmanned equipment according to the current course angle information, the first position information, the first speed information, the acceleration information and the angular speed information.
Optionally, receiving the first position information and the first speed information by a first receiver, and receiving the second position information by a second receiver; the method further comprises the following steps: determining whether the states of the first receiver and the second receiver satisfy a preset condition; and under the condition that the states of the first receiver and the second receiver are determined to meet the preset condition, executing the step of determining the current course angle information of the unmanned equipment according to the first position information and the second position information.
Optionally, the preset condition comprises at least one of: the time when the first receiver sends the first position information is the same as the time when the second receiver sends the second position information; the first receiver and the second receiver both meet the real-time dynamic carrier phase differential positioning condition; the position precision strength of the first receiver is smaller than a preset strength threshold; the first longitude error standard deviation and the first latitude error standard deviation of the first receiver and the second longitude error standard deviation and the second latitude error standard deviation of the second receiver are both smaller than a preset standard deviation threshold value.
Optionally, acquiring the acceleration information and the angular velocity information by an inertial measurement unit; receiving, by a first receiver, the first location information and first velocity information; determining, by a processor component, the current course angle information and the target navigation information; the method further comprises the following steps: the first receiver sends pulse signals to the processor assembly every other preset time; the processor assembly sends a trigger signal to the inertial measurement unit after receiving the pulse signal so as to trigger the inertial measurement unit to send the acceleration information and the angular velocity information.
Optionally, the determining, according to the current heading angle information, the first position information, the first speed information, the acceleration information, and the angular speed information, target navigation information of the unmanned device includes: determining initial pitch angle information and initial roll angle information of the unmanned equipment according to the acceleration information; determining current navigation information of the unmanned equipment according to the current course angle information, the first position information, the first speed information, the acceleration information, the angular speed information, the initial pitch angle information and the initial roll angle information; acquiring second speed information of an inertia measurement unit; and correcting the current navigation information according to the first speed information and the second speed information to obtain the target navigation information of the unmanned equipment.
Optionally, the modifying the current navigation information according to the first speed information and the second speed information includes: determining a filtering observation according to the first speed information and the second speed information; carrying out filtering processing according to the filtering observed quantity to obtain a filtering state quantity; and correcting the current navigation information according to the filtering state quantity to obtain the target navigation information of the unmanned equipment.
Optionally, receiving, by a first receiver, the first location information and first velocity information; determining, by a processor component, the current course angle information and the target navigation information; the method further comprises the following steps: the first receiver sends pulse signals to the processor assembly every other preset time; the processor component determines a time difference between the time when the pulse signal is received last time and the time when the pulse signal is received last time according to the time when the first position information and the first speed information are received; determining a filtering observation according to the first speed information and the second speed information includes: determining the speed variation of the first antenna according to the time difference, and correcting the first speed information according to the speed variation to obtain third speed information of the first antenna; and determining the filtering observed quantity according to the second speed information and the third speed information.
In a third aspect, an unmanned device is provided, where the unmanned device is provided with a first antenna and a second antenna, and the unmanned device further includes the navigation apparatus for an unmanned device provided in the first aspect of the present disclosure.
In the above technical solution, the unmanned aerial vehicle is provided with two antennas, and the navigation device employs two receiver modules, where the first receiver may be configured to determine first position information and first speed information of the first antenna, and the second receiver may be configured to determine second position information of the second antenna. The processor component can firstly determine the current course angle information of the unmanned equipment according to the first position information and the second position information, and the current course angle can ensure course precision and improve the precision and accuracy of target navigation information when determining the target navigation information, so that effective navigation information can be provided for the unmanned equipment, and the safe and accurate operation of the unmanned equipment is ensured.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a schematic diagram illustrating a navigation apparatus for an unmanned aerial device according to an exemplary embodiment.
Fig. 2 is a schematic diagram illustrating a navigation apparatus for an unmanned aerial device according to another exemplary embodiment.
FIG. 3 is a flow chart illustrating a method of determining target navigation information in accordance with an exemplary embodiment.
Fig. 4 is a flow chart illustrating a method of determining a filtering observation according to an example embodiment.
FIG. 5 is a flow chart illustrating a navigation method for an unmanned device, according to an example embodiment.
Description of the reference numerals
101 first antenna 102 second antenna
103 first receiver 104 second receiver
105 inertial measurement unit 106 processor assembly
107 first processor 108 second processor
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a schematic diagram illustrating a navigation apparatus for an unmanned aerial device according to an exemplary embodiment. As shown in fig. 1, the unmanned device may be provided with a first antenna 101 and a second antenna 102. For example, taking an unmanned device as a vehicle, for example, one antenna may be disposed at a head position of the vehicle, which is referred to as a front antenna, and one antenna may be disposed at a tail position of the vehicle, which is referred to as a rear antenna. Further, for example, taking the unmanned aerial vehicle as an unmanned aerial vehicle, for example, one antenna may be disposed at a front body position of the unmanned aerial vehicle, which is referred to as a front antenna, and one antenna may be disposed at a rear body position of the unmanned aerial vehicle, which is referred to as a rear antenna. In the present disclosure, the first antenna 101 may be used as a front antenna or a rear antenna, and accordingly, the second antenna 102 may be used as a rear antenna or a front antenna, which is not limited in the present disclosure. Both the first antenna 101 and the second antenna 102 may be used to receive radio frequency signals of navigation satellites.
As shown in fig. 1, the navigation device 100 may include a first receiver 103, a second receiver 104, an inertial measurement unit 105, and a processor component 106.
The first receiver 103, which may be configured to couple with the first antenna 101, determines first position information and first velocity information of the first antenna 101 according to the first rf signal transmitted by the first antenna 101.
The second receiver 104, which may be configured to couple with the second antenna 102, determines second position information of the second antenna 102 based on a second rf signal transmitted by the second antenna 102.
Wherein, the first antenna 101 and the first receiver 103 can be connected by a feeder. The first antenna 101 may be configured to receive a first rf signal from a navigation satellite and transmit the first rf signal to the first receiver 103, and the first receiver 103 may process the first rf signal to determine first position information and first velocity information of the first antenna 101. The first receiver 103 may then send the first location information and the first velocity information to the processor component 106.
The second antenna 102 and the second receiver 104 may be connected by a feed line. The second antenna 102 may be configured to receive a second rf signal from the navigation satellite and transmit the second rf signal to the second receiver 104, and the second receiver 104 may process the second rf signal to determine second position information of the second antenna 102. The second receiver 104 may then send the second location information to the processor component 106.
The first receiver 103 and the second receiver 104 may each be any one of the following: a GNSS (Global navigation Satellite System) receiver, a GPS (Global positioning System) receiver, a navigation-type receiver, and the like. The specific manner of determining the position information and the speed information by the receiver according to the radio frequency signal of the navigation satellite acquired by the antenna may refer to related technologies in the art, and is not described herein again.
The inertial measurement unit 105 may be used to collect acceleration information and angular velocity information.
The Inertial Measurement Unit 105 (IMU) includes three single-axis accelerometers and three single-axis gyroscopes. The accelerometer can acquire three-axis acceleration information of the unmanned equipment in a carrier coordinate system, and the gyroscope can acquire three-axis angular velocity information of the unmanned equipment relative to a navigation coordinate system. The inertial measurement unit 105 may send the collected acceleration information and angular velocity information to the processor assembly 106.
The processor component 106 may be configured to determine current heading angle information of the drone based on the first location information and the second location information, and determine target navigation information of the drone based on the current heading angle information, the first location information, the first velocity information, the acceleration information, and the angular velocity information.
The target navigation information may include position information, velocity information, and attitude information of the unmanned device. Specifically, the position information may include longitude information, latitude information, altitude information, etc., the velocity information may include east velocity, north velocity, sky velocity, etc., and the attitude information may include heading angle information, pitch angle information, roll angle information, etc.
In the above technical solution, the unmanned aerial vehicle is provided with two antennas, and the navigation device employs two receiver modules, where the first receiver may be configured to determine first position information and first speed information of the first antenna, and the second receiver may be configured to determine second position information of the second antenna. The processor component can firstly determine the current course angle information of the unmanned equipment according to the first position information and the second position information, and the current course angle can ensure course precision and improve the precision and accuracy of target navigation information when determining the target navigation information, so that effective navigation information can be provided for the unmanned equipment, and the safe and accurate operation of the unmanned equipment is ensured.
Optionally, the processor component 106 may be configured to determine the current heading angle information from the first location information and the second location information by:
Figure BDA0002327057580000091
wherein,
Figure BDA0002327057580000092
indicating current course angle information, x1Representing the component of the first position information in the x-axis, y1Representing the component of the first position information in the y-axis, x2Representing the component of the second position information in the x-axis, y2Representing the component of the second position information in the y-axis.
Optionally, the processor component 106 may be configured to determine the current heading angle information of the unmanned device according to the first location information and the second location information if the states of the first receiver 103 and the second receiver 104 satisfy a preset condition.
In the present disclosure, the preset condition may include at least one of:
(1) the first receiver 103 transmits the first location information at the same time as the second receiver 104 transmits the second location information.
The data frame of the first location information sent by the first receiver 103 may include first timestamp information, the data frame of the second location information sent by the second receiver 104 may include second timestamp information, and the processor component 106 may determine whether the time is the same according to the first timestamp information and the second timestamp information. If the time is the same, it indicates that the first location information and the second location information are location information at the same time. Therefore, the current course angle information determined according to the first position information and the second position information is more accurate.
(2) The first receiver 103 and the second receiver 104 both satisfy the real-time dynamic carrier-phase differential positioning condition.
The Real-Time Kinematic (RTK) carrier phase differential positioning technique is a Real-Time Kinematic positioning technique based on a carrier phase observation value, and can realize high-precision positioning. When both the first receiver 103 and the second receiver 104 satisfy the real-time dynamic carrier phase differential positioning condition, it indicates that the positioning accuracy of the first receiver 103 and the second receiver 104 is higher, and the determined position information and speed information are more accurate.
(3) The strength of the position accuracy of the first receiver 103 is less than a preset strength threshold.
The Position Precision of Precision (PDOP), i.e. the three-dimensional Position Precision factor, is the root-opening number value of the sum of the squares of errors such as latitude, longitude and elevation, and can represent the spatial geometric distribution degree of the navigation satellite. Generally, the better the measured geometry of the navigation satellites, the smaller the PDOP of the receiver, the higher the positioning accuracy. The preset strength threshold may be preset, for example, may be set to 1.5. When the position accuracy of the first receiver 103 is smaller than the preset strength threshold, it indicates that the geometric distribution degree of the navigation satellite is better and the positioning accuracy is higher.
(4) The first longitude error standard deviation and the first latitude error standard deviation of the first receiver 103 and the second longitude error standard deviation and the second latitude error standard deviation of the second receiver 104 are both smaller than a preset standard deviation threshold.
Wherein, the smaller the standard deviation of longitude error and the standard deviation of latitude error, the higher the positioning accuracy. The preset standard deviation threshold may be preset, and may be set to 0.015, for example.
In the present disclosure, the preset condition may include one or more of the condition (1), the condition (2), the condition (3), and the condition (4), for example, the preset condition may include the above four conditions at the same time. When the preset conditions include the above conditions and the states of the first receiver 103 and the second receiver 104 satisfy the conditions at the same time, the processor component 106 determines the current heading angle information of the unmanned device according to the first position information and the second position information, so that the determined current heading angle information is more accurate.
Fig. 2 is a schematic diagram illustrating a navigation apparatus for an unmanned aerial device according to another exemplary embodiment. As shown in fig. 2, the processor assembly 106 may include a first processor 107 and a second processor 108.
Wherein the first processor 107 may be connected to the first receiver 103 and the second receiver 104 for determining the current heading angle information of the unmanned device according to the first location information and the second location information. The second processor 108 is connected to the first processor 107, and the first processor 107 may send the current heading angle information, the first position information, and the first speed information to the second processor 108.
In one embodiment, the second processor 108 may be connected with the inertial measurement unit 105 to receive acceleration information and angular velocity information from the inertial measurement unit 105. The inertia measurement unit 105 and the second processor 108 may be connected by an SPI (Serial Peripheral Interface) bus, so as to increase the transmission speed of the acceleration information and the angular velocity information.
In another embodiment, as shown in fig. 2, the first processor 107 may be connected with the inertial measurement unit 105 to receive acceleration information and angular velocity information from the inertial measurement unit 105 and forward the acceleration information and the angular velocity information to the second processor 108. The inertia measurement unit 105 and the first processor 107 may be connected by an SPI (serial peripheral Interface) bus.
The second processor 108 may be configured to determine target navigational information for the drone based on the current heading angle information, the first location information, the first velocity information, the acceleration information, and the angular velocity information.
In the present disclosure, the processing capabilities of the first processor 107 and the second processor 108 may be set as needed, for example, the calculation process for determining the target navigation information of the unmanned device is more complicated, and thus, the processing capability of the second processor 108 may be larger than that of the first processor 107.
Optionally, the first receiver 103 may be further configured to send a pulse signal to the processor component 106 every preset time length; the processor component 106 may also be configured to send a trigger signal to the inertial measurement unit 105 after receiving the pulse signal to trigger the inertial measurement unit 105 to send acceleration information and angular velocity information.
Here, a preset frequency threshold may be set for the inertial measurement unit 105, so that the inertial measurement unit 105 transmits acceleration information and angular velocity information according to the frequency threshold. However, the inertial measurement unit 105 may not be clocked at the predetermined frequency threshold, and the frequency error may accumulate over time. Therefore, in the present disclosure, by sending the trigger signal, the inertial measurement unit 105 is triggered to send the acceleration information and the angular velocity information, so as to provide an accurate clock for the inertial measurement unit 105, prevent the frequency of sending data from being inaccurate, and effectively avoid the problem that frequency errors accumulate over time.
In one embodiment, the inertial measurement unit 105 may be coupled to a second processor 108 in the processor assembly 106. In this embodiment, the first receiver 103 may send a pulse signal to the first processor 107 every preset time period (e.g., 500ms or 1s), the first processor 107 may forward the pulse signal to the second processor 108 after receiving the pulse signal, and the second processor 108 sends a trigger signal to the inertial measurement unit 105 after receiving the pulse signal, so as to trigger the inertial measurement unit 105 to send the acceleration information and the angular velocity information collected by the inertial measurement unit 105.
In another embodiment, as shown in FIG. 2, the inertial measurement unit 105 may be connected to a first processor 107 in the processor assembly 106. In this embodiment, the first receiver 103 may send a pulse signal to the first processor 107 every preset time period, and after receiving the pulse signal, the first receiver 103 may directly send a trigger signal to the inertia measurement unit 105 to trigger the inertia measurement unit 105 to send the acceleration information and the angular velocity information collected by the inertia measurement unit 105.
In this way, since the clock of the first receiver 103 is accurate, and the pulse signal sent by the first receiver is used as the time reference to send the trigger signal to the inertial measurement unit 105, the problem that the sending frequency of the inertial measurement unit 105 is not accurate can be effectively avoided.
FIG. 3 is a flow chart illustrating a method of determining target navigation information in accordance with an exemplary embodiment. As shown in FIG. 3, the processor component 106 may be configured to perform S301-S304.
In S301, initial pitch angle information and initial roll angle information of the unmanned device are determined from the acceleration information.
For example, the second processor 108, upon receiving the acceleration information, may determine the initial pitch angle information and the initial roll angle information according to the acceleration information by the following formulas:
Figure BDA0002327057580000121
Figure BDA0002327057580000131
specifically, θ represents initial pitch angle information, β represents initial roll angle information, and axRepresenting the component of the acceleration information in the x-axis, ayRepresenting the component of the acceleration information in the y-axis, azRepresenting the component of the acceleration information in the z-axis.
In S302, current navigation information of the unmanned device is determined according to the current heading angle information, the first position information, the first velocity information, the acceleration information, the angular velocity information, the initial pitch angle information, and the initial roll angle information.
The current navigation information may be determined by referring to the related art, for example, a fusion solution may be performed by using a kalman filtering technique to determine the current navigation information of the unmanned aerial vehicle.
In S303, second speed information of the inertial measurement unit is acquired.
In one embodiment, the second processor 108 may determine the second velocity information directly from the acceleration information of the inertial measurement unit 105, for example, by integrating the acceleration information to obtain the second velocity information.
In another embodiment, the inertial measurement unit 105 itself may determine second velocity information from the collected acceleration information and send the second velocity information to the processor component 106. In this embodiment, if the inertial measurement unit 105 is connected to the second processor 108, the second speed information may be sent to the second processor 108; alternatively, if the inertia measurement unit 105 is connected to the first processor 107, the second speed information may be sent to the first processor 107 and forwarded by the first processor 107 to the second processor 108.
In S304, the current navigation information is corrected according to the first speed information and the second speed information to obtain target navigation information of the unmanned device.
In this step, the second processor 108 may determine a filtering observed quantity according to the first velocity information of the first antenna 101 and the second velocity information of the inertial measurement unit 105, and perform filtering processing according to the filtering observed quantity, for example, filtering iteration may be performed by using a kalman filtering technique to obtain a filtering state quantity. And then, correcting the current navigation information according to the filtering state quantity to obtain the target navigation information of the unmanned equipment. The target navigation information is obtained by correcting the current navigation information, so that the target navigation information is more accurate.
Fig. 4 is a flow chart illustrating a method of determining a filtering observation according to an example embodiment. As shown in fig. 4, the processor component 106 may also be configured to perform S401-S403.
In S401, a time difference from the time when the pulse signal was received the last time is determined based on the time when the first position information and the first velocity information were received.
Since the data transmission process takes time, the first processor 107 may generate a certain delay in receiving the first position information and the first speed information, and may also generate a certain delay in analyzing the first position information and the first speed information after the first processor 107 receives the first position information and the first speed information. In the present disclosure, the first receiver 103 may be configured to send a pulse signal to the processor component 106 every preset time period (e.g., 500ms or 1s), for example, to send a pulse signal to the first processor 107, and the time difference may be accurately determined based on the pulse signal sent by the first receiver 103.
Illustratively, a timer interrupt routine, for example, a 50 μ s timer, may be set in the first processor 107, the first processor 107 counts when receiving the pulse signal transmitted by the first receiver 103, increments the count by 1 every 50 μ s, stops counting at the time of receiving the first position information and the first speed information transmitted by the first receiver 103, and records the count value as k, and the time difference may be determined according to the product of the count value k and 50 μ s.
In S402, a speed variation of the first antenna is determined according to the time difference, and the first speed information is modified according to the speed variation to obtain third speed information of the first antenna.
The first processor 107, after determining the time difference described above, may send the time difference to the second processor 108. The second processor 108 may store the speed information of the first antenna 101, determine a speed variation of the first antenna 101 within the time difference (e.g., 30ms) according to the stored speed information, and may correct the first speed information according to the speed variation to obtain third speed information of the first antenna 101. Illustratively, the sum of the speed variation amount and the first speed information may be used as the third speed information of the first antenna 101.
In S403, a filter observation amount is determined from the second speed information and the third speed information.
Here, the difference between the third velocity information of the first antenna 101 and the second velocity information of the inertial measurement unit 105 may be determined as the filtering observation. Since the third speed information of the first antenna 101 is the speed information after compensation according to the time difference, the influence of transmission delay is avoided, and thus, the determined filtering observed quantity is more accurate, so that the filtering state quantity obtained according to the filtering observed quantity and the finally determined target navigation information are more accurate.
Based on the same inventive concept, the disclosure also provides a navigation method for the unmanned aerial vehicle, and the unmanned aerial vehicle is provided with a first antenna and a second antenna. FIG. 5 is a flow chart illustrating a navigation method for an unmanned device, according to an example embodiment. As shown in fig. 5, the method may include S501-S504.
In S501, first position information and first velocity information of a first antenna are determined according to a first radio frequency signal transmitted by the first antenna.
In S502, second position information of the second antenna is determined according to the second radio frequency signal transmitted by the second antenna.
In S503, acceleration information and angular velocity information are collected.
In S504, current heading angle information of the unmanned aerial vehicle is determined according to the first position information and the second position information, and target navigation information of the unmanned aerial vehicle is determined according to the current heading angle information, the first position information, the first velocity information, the acceleration information, and the angular velocity information.
According to the technical scheme, the current course angle information of the unmanned equipment is determined according to the first position information and the second position information, and the current course angle can ensure course precision and improve the precision and accuracy of target navigation information when the target navigation information is determined, so that effective navigation information can be provided for the unmanned equipment, and the safe and accurate operation of the unmanned equipment is ensured.
Optionally, receiving the first position information and the first speed information by a first receiver, and receiving the second position information by a second receiver; the method further comprises the following steps: determining whether the states of the first receiver and the second receiver satisfy a preset condition; and under the condition that the states of the first receiver and the second receiver are determined to meet the preset condition, executing the step of determining the current course angle information of the unmanned equipment according to the first position information and the second position information.
Optionally, the preset condition comprises at least one of: the time when the first receiver sends the first position information is the same as the time when the second receiver sends the second position information; the first receiver and the second receiver both meet the real-time dynamic carrier phase differential positioning condition; the position precision strength of the first receiver is smaller than a preset strength threshold; the first longitude error standard deviation and the first latitude error standard deviation of the first receiver and the second longitude error standard deviation and the second latitude error standard deviation of the second receiver are both smaller than a preset standard deviation threshold value.
Optionally, acquiring the acceleration information and the angular velocity information by an inertial measurement unit; receiving, by a first receiver, the first location information and first velocity information; determining, by a processor component, the current course angle information and the target navigation information; the method further comprises the following steps: the first receiver sends pulse signals to the processor assembly every other preset time; the processor assembly sends a trigger signal to the inertial measurement unit after receiving the pulse signal so as to trigger the inertial measurement unit to send the acceleration information and the angular velocity information.
Optionally, the determining, according to the current heading angle information, the first position information, the first speed information, the acceleration information, and the angular speed information, target navigation information of the unmanned device includes: determining initial pitch angle information and initial roll angle information of the unmanned equipment according to the acceleration information; determining current navigation information of the unmanned equipment according to the current course angle information, the first position information, the first speed information, the acceleration information, the angular speed information, the initial pitch angle information and the initial roll angle information; acquiring second speed information of an inertia measurement unit; and correcting the current navigation information according to the first speed information and the second speed information to obtain the target navigation information of the unmanned equipment.
Optionally, the modifying the current navigation information according to the first speed information and the second speed information includes: determining a filtering observation according to the first speed information and the second speed information; carrying out filtering processing according to the filtering observed quantity to obtain a filtering state quantity; and correcting the current navigation information according to the filtering state quantity to obtain the target navigation information of the unmanned equipment.
Optionally, receiving, by a first receiver, the first location information and first velocity information; determining, by a processor component, the current course angle information and the target navigation information; the method further comprises the following steps: the first receiver sends pulse signals to the processor assembly every other preset time; the processor component determines a time difference between the time when the pulse signal is received last time and the time when the pulse signal is received last time according to the time when the first position information and the first speed information are received; determining a filtering observation according to the first speed information and the second speed information includes: determining the speed variation of the first antenna according to the time difference, and correcting the first speed information according to the speed variation to obtain third speed information of the first antenna; and determining the filtering observed quantity according to the second speed information and the third speed information.
With regard to the method in the above-described embodiment, the specific manner in which the respective steps perform operations has been described in detail in the embodiment related to the apparatus, and will not be elaborated upon here.
The present disclosure further provides an unmanned aerial vehicle, the unmanned aerial vehicle is provided with a first antenna and a second antenna, and the unmanned aerial vehicle further includes the navigation device 100 for the unmanned aerial vehicle. The unmanned device can be an unmanned distribution vehicle, an unmanned aerial vehicle, a robot, an unmanned ship and the like.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims (16)

1. A navigation device for an unmanned aerial vehicle, the unmanned aerial vehicle having a first antenna and a second antenna disposed thereon, the device comprising:
a first receiver, coupled to the first antenna, for determining first position information and first velocity information of the first antenna according to a first radio frequency signal transmitted by the first antenna;
the second receiver is coupled with the second antenna and used for determining second position information of the second antenna according to a second radio frequency signal sent by the second antenna;
the inertial measurement unit is used for acquiring acceleration information and angular velocity information;
and the processor component is used for determining the current course angle information of the unmanned equipment according to the first position information and the second position information, and determining the target navigation information of the unmanned equipment according to the current course angle information, the first position information, the first speed information, the acceleration information and the angular speed information.
2. The apparatus of claim 1, wherein the processor component is configured to determine current heading angle information of the unmanned aerial device according to the first location information and the second location information if the states of the first receiver and the second receiver satisfy a preset condition.
3. The apparatus of claim 2, wherein the preset condition comprises at least one of:
the time when the first receiver sends the first position information is the same as the time when the second receiver sends the second position information;
the first receiver and the second receiver both meet the real-time dynamic carrier phase differential positioning condition;
the position precision strength of the first receiver is smaller than a preset strength threshold;
the first longitude error standard deviation and the first latitude error standard deviation of the first receiver and the second longitude error standard deviation and the second latitude error standard deviation of the second receiver are both smaller than a preset standard deviation threshold value.
4. The apparatus of any of claims 1-3, wherein the processor component comprises a first processor and a second processor, wherein the first processor is coupled to the first receiver and the second receiver for determining current heading angle information of the drone based on the first location information and the second location information; the second processor is connected with the first processor and is used for determining target navigation information of the unmanned equipment according to the current course angle information, the first position information, the first speed information, the acceleration information and the angular speed information, wherein the second processor is connected with the inertial measurement unit to receive the acceleration information and the angular speed information from the inertial measurement unit, or the first processor is connected with the inertial measurement unit to receive the acceleration information and the angular speed information from the inertial measurement unit and forward the acceleration information and the angular speed information to the second processor.
5. The apparatus of any of claims 1-3, wherein the first receiver is further configured to send a pulse signal to the processor component every predetermined duration;
the processor assembly is further used for sending a trigger signal to the inertial measurement unit after receiving the pulse signal so as to trigger the inertial measurement unit to send the acceleration information and the angular velocity information.
6. The apparatus of any of claims 1-3, wherein the processor component is to:
determining initial pitch angle information and initial roll angle information of the unmanned equipment according to the acceleration information;
determining current navigation information of the unmanned equipment according to the current course angle information, the first position information, the first speed information, the acceleration information, the angular speed information, the initial pitch angle information and the initial roll angle information;
acquiring second speed information of the inertia measurement unit;
and correcting the current navigation information according to the first speed information and the second speed information to obtain the target navigation information of the unmanned equipment.
7. The apparatus of claim 6, wherein the modifying the current navigation information based on the first speed information and the second speed information comprises:
determining a filtering observation according to the first speed information and the second speed information;
carrying out filtering processing according to the filtering observed quantity to obtain a filtering state quantity;
and correcting the current navigation information according to the filtering state quantity to obtain the target navigation information of the unmanned equipment.
8. The apparatus of claim 7, wherein the first receiver is further configured to send a pulse signal to the processor component every predetermined duration;
the processor component is further used for determining a time difference between the time when the pulse signal is received last time and the time when the pulse signal is received last time according to the time when the first position information and the first speed information sent by the first receiver are received;
determining a filtering observation according to the first speed information and the second speed information includes:
determining the speed variation of the first antenna according to the time difference, and correcting the first speed information according to the speed variation to obtain third speed information of the first antenna;
and determining the filtering observed quantity according to the second speed information and the third speed information.
9. A navigation method for an unmanned device having a first antenna and a second antenna disposed thereon, the method comprising:
determining first position information and first speed information of the first antenna according to a first radio frequency signal sent by the first antenna;
determining second position information of the second antenna according to a second radio frequency signal sent by the second antenna;
acquiring acceleration information and angular velocity information;
determining the current course angle information of the unmanned equipment according to the first position information and the second position information, and determining the target navigation information of the unmanned equipment according to the current course angle information, the first position information, the first speed information, the acceleration information and the angular speed information.
10. The method of claim 9, wherein the first location information and the first velocity information are received by a first receiver and the second location information is received by a second receiver;
the method further comprises the following steps:
determining whether the states of the first receiver and the second receiver satisfy a preset condition;
and under the condition that the states of the first receiver and the second receiver are determined to meet the preset condition, executing the step of determining the current course angle information of the unmanned equipment according to the first position information and the second position information.
11. The method of claim 10, wherein the preset condition comprises at least one of:
the time when the first receiver sends the first position information is the same as the time when the second receiver sends the second position information;
the first receiver and the second receiver both meet the real-time dynamic carrier phase differential positioning condition;
the position precision strength of the first receiver is smaller than a preset strength threshold;
the first longitude error standard deviation and the first latitude error standard deviation of the first receiver and the second longitude error standard deviation and the second latitude error standard deviation of the second receiver are both smaller than a preset standard deviation threshold value.
12. The method according to any one of claims 9-11, characterized by acquiring the acceleration information and the angular velocity information by an inertial measurement unit; receiving, by a first receiver, the first location information and first velocity information; determining, by a processor component, the current course angle information and the target navigation information;
the method further comprises the following steps:
the first receiver sends pulse signals to the processor assembly every other preset time;
the processor assembly sends a trigger signal to the inertial measurement unit after receiving the pulse signal so as to trigger the inertial measurement unit to send the acceleration information and the angular velocity information.
13. The method according to any one of claims 9-11, wherein said determining target navigation information for the drone based on the current heading angle information, the first location information, the first velocity information, the acceleration information, and the angular velocity information comprises:
determining initial pitch angle information and initial roll angle information of the unmanned equipment according to the acceleration information;
determining current navigation information of the unmanned equipment according to the current course angle information, the first position information, the first speed information, the acceleration information, the angular speed information, the initial pitch angle information and the initial roll angle information;
acquiring second speed information of an inertia measurement unit;
and correcting the current navigation information according to the first speed information and the second speed information to obtain the target navigation information of the unmanned equipment.
14. The method of claim 13, wherein modifying the current navigation information based on the first speed information and the second speed information comprises:
determining a filtering observation according to the first speed information and the second speed information;
carrying out filtering processing according to the filtering observed quantity to obtain a filtering state quantity;
and correcting the current navigation information according to the filtering state quantity to obtain the target navigation information of the unmanned equipment.
15. The method of claim 14, wherein the first location information and first velocity information are received by a first receiver; determining, by a processor component, the current course angle information and the target navigation information; the method further comprises the following steps:
the first receiver sends pulse signals to the processor assembly every other preset time;
the processor component determines a time difference between the time when the pulse signal is received last time and the time when the pulse signal is received last time according to the time when the first position information and the first speed information are received;
determining a filtering observation according to the first speed information and the second speed information includes:
determining the speed variation of the first antenna according to the time difference, and correcting the first speed information according to the speed variation to obtain third speed information of the first antenna;
and determining the filtering observed quantity according to the second speed information and the third speed information.
16. The utility model provides an unmanned aerial vehicle, be provided with first antenna and second antenna on the unmanned aerial vehicle, its characterized in that, unmanned aerial vehicle still includes: the navigation device of any one of claims 1-8.
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