CN111554129B - Unmanned aerial vehicle rail system based on indoor location - Google Patents
Unmanned aerial vehicle rail system based on indoor location Download PDFInfo
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- CN111554129B CN111554129B CN202010413109.3A CN202010413109A CN111554129B CN 111554129 B CN111554129 B CN 111554129B CN 202010413109 A CN202010413109 A CN 202010413109A CN 111554129 B CN111554129 B CN 111554129B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/006—Navigation or guidance aids for a single aircraft in accordance with predefined flight zones, e.g. to avoid prohibited zones
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle fence based on indoor positioning, which relates to the control of a motion area of an unmanned aerial vehicle, and comprises the following components: the space area calibrated by the limit coordinates of the positioning base stations is an unmanned aerial vehicle flight area, and the flight buffer area comprises an internal moving area and an external buffer area; a positioning tag for detecting a current positioning of the drone; the direction sensor is used for detecting the current posture of the unmanned aerial vehicle; the acceleration sensor is used for detecting the current acceleration of the unmanned aerial vehicle; the processor is used for processing the current flight data of the unmanned aerial vehicle; the communication module is used for sending current flight data of the unmanned aerial vehicle and receiving a control command; the server exchanges data with the unmanned aerial vehicle through the communication module, receives and processes flight data of the unmanned aerial vehicle and generates a corresponding control instruction. According to the invention, the unmanned aerial vehicle can fly freely in the internal moving area, and the unmanned aerial vehicle can only move towards the internal space area when entering the external buffer area.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, relates to the motion area control of an unmanned aerial vehicle, and particularly relates to an unmanned aerial vehicle fence based on indoor positioning.
Background
Be applied to the electronic fence in unmanned aerial vehicle field mainly used and confirm unmanned aerial vehicle's relative position, at the in-process that unmanned aerial vehicle flies, whether real-time feedback unmanned aerial vehicle is located predetermined within range to mark unmanned aerial vehicle's position. When unmanned aerial vehicle is in the rail, the electronic fence system feedback is not unusual, and when unmanned aerial vehicle was outside the rail, the electronic system reminded.
Because unmanned aerial vehicle's flight range is great, consequently the fence mainly sets up in outdoor environment for unmanned aerial vehicle roughly fixes a position, nevertheless can't restrict unmanned aerial vehicle's motion. When unmanned aerial vehicle flies in the little space that the motion range is more restricted, current fence can not play timely restriction, moves the back outside the limit of fence when unmanned aerial vehicle, is difficult to avoid the emergence collision accident.
Therefore, aiming at the defects of the existing electronic fence system, a more reasonable technical scheme is required to be provided, and the technical problems in the prior art are solved.
Disclosure of Invention
The invention provides an unmanned aerial vehicle fence system based on indoor positioning, the motion range of an unmanned aerial vehicle is divided into an internal activity area and an external buffer area through the system, the unmanned aerial vehicle can fly freely in the internal activity area, and can hover after entering the external buffer area and can only fly in the internal activity area, so that the behavior of the unmanned aerial vehicle after leaving the electronic fence is limited, the damage of the unmanned aerial vehicle can be effectively reduced, and the flying safety of the unmanned aerial vehicle is improved.
In order to realize the effect, the invention adopts the technical scheme that:
an unmanned aerial vehicle fence system based on indoor location, comprising:
the system comprises a plurality of positioning base stations, a plurality of positioning base stations and a plurality of control units, wherein the positioning base stations are arranged in space and keep intervals with an indoor wall, each positioning base station limits a limit coordinate in one direction, a space area marked by the limit coordinates of the positioning base stations is an unmanned aerial vehicle flight area, and a flight buffer area comprises an internal activity area and an external buffer area;
the positioning tag is arranged on the unmanned aerial vehicle and used for detecting the current positioning of the unmanned aerial vehicle;
the direction sensor is arranged on the unmanned aerial vehicle and used for detecting the current posture of the unmanned aerial vehicle;
the acceleration sensor is arranged on the unmanned aerial vehicle and used for detecting the current acceleration of the unmanned aerial vehicle;
the processor is arranged on the unmanned aerial vehicle and used for processing the current flight data of the unmanned aerial vehicle;
the communication module is arranged on the unmanned aerial vehicle and used for sending current flight data of the unmanned aerial vehicle and receiving a control command;
the server exchanges data with the unmanned aerial vehicle through the communication module, receives and processes flight data of the unmanned aerial vehicle and generates a corresponding control instruction.
According to the unmanned aerial vehicle fence system, the positioning base station is arranged to limit the external fence of the unmanned aerial vehicle flying area, and the external fence is used as the boundary of the flying buffer area, so that the limit area of unmanned aerial vehicle flying can be effectively limited; the fence system also demarcates an internal activity area in the flying area, and the internal activity area is an area where the unmanned aerial vehicle flies freely. After the system starts, unmanned aerial vehicle's position is detected and is updated in real time, can freely fly when unmanned aerial vehicle is confirmed to be located inside activity area, leave inside activity area and get into outside buffering regional back when unmanned aerial vehicle is confirmed, and unmanned aerial vehicle loses the authority of free flight, can only fly to inside activity area.
Furthermore, above-mentioned rail system discloses the constitution of system, and unmanned aerial vehicle's flight area is confirmed by the location basic station, and the flight area of unmanned aerial vehicle can directly be influenced to the mode of laying of location basic station. The invention optimizes the arrangement mode of the positioning base stations, and provides a feasible scheme that the number of the positioning base stations is four, one positioning base station is taken as a reference point, the other three positioning base stations are respectively arranged in the directions of x, y and z, the four positioning base stations form a space Cartesian rectangular coordinate system, and the four positioning base stations limit the flight area of the unmanned aerial vehicle to a cubic area. When setting up like this, through setting up four location basic stations indoor, wherein the benchmark sets up in a corner department, and the adjacent corner in benchmark is set up respectively to three location basic stations in addition, so can plan unmanned aerial vehicle flight area.
Still further, the relative positions of the external buffer area and the internal active area are not fixed, and the external buffer area and the internal active area can be arranged in an adjacent and surrounding manner according to different indoor structures. Alternatively, the positional relationship between the two is limited, and the following possible schemes are given: the external buffer area is positioned at the outer side of the internal active area, the internal active area is a cubic area, the center of the internal active area is superposed with the center of the flight area, and the edge length of each edge length of the internal active area corresponding to the edge length of the flight area is reduced according to the same proportion.
Furthermore, the flight area is defined by a space cartesian coordinate system established by the positioning base station, and each position in the flight area is calibrated by a point coordinate, so that each position of the internal activity area and the external buffer area is correspondingly determined by a uniquely determined point coordinate. When the internal activity area and the external buffer area are determined, the boundary surface of the internal activity area and the boundary surface of the external buffer area are recorded and stored in the server in a point coordinate set mode, and points on the boundary surface of the internal activity area correspond to points on the boundary surface of the external buffer area.
And further, judging whether the unmanned aerial vehicle enters an external activity area from the internal activity area or not, and only judging the relation between the unmanned aerial vehicle and the boundary surface. When the unmanned aerial vehicle is positioned on the boundary surface of the internal flight area and the external buffer area, the coordinate values (x, y, z) of the unmanned aerial vehicle are just subordinate to the point coordinate set of the boundary surface, and when any two of the coordinate values (x, y, z) of the unmanned aerial vehicle correspond to one point on the boundary surface equally, the position relation of the unmanned aerial vehicle can be judged through the size relation of the remaining coordinate parameter value.
Furthermore, the above scheme explains the relative position relation of the internal activity area and the external buffer area, and the setting of the external buffer area is fundamentally in that a deceleration space is provided for the unmanned aerial vehicle, and after the unmanned aerial vehicle leaves the internal activity area, the unmanned aerial vehicle can be decelerated sufficiently in the external buffer area to hover. Therefore, the width of the external buffer area needs to satisfy the requirement that the unmanned aerial vehicle decelerates to the hovering width football at the minimum acceleration at the maximum speed. Specifically, one possible solution is as follows: the interval width of the external buffer area is
Wherein is V 0 Is the maximum speed when the unmanned aerial vehicle enters the external buffer area, a is the minimum acceleration when the unmanned aerial vehicle decelerates, t 1 Delay time, t, from sending control command to receiving control command by unmanned aerial vehicle for server 2 And the time required for the unmanned aerial vehicle to receive the control instruction and realize hovering is obtained. In this scheme, noneThe maximum speed of the unmanned aerial vehicle is preset by the server, and the minimum acceleration refers to the acceleration of the unmanned aerial vehicle only subjected to air resistance.
Still further, the external buffer area is the limit boundary of the unmanned aerial vehicle motion, and in order to improve the safety of the unmanned aerial vehicle flight area, a certain interval is reserved between the position where the positioning base station is arranged and the indoor wall, and as an option, a feasible scheme is given here, and the interval is at least 1m. The interval width is specifically decided according to the speed of the unmanned aerial vehicle, and the larger the maximum speed of the unmanned aerial vehicle is, the larger the interval setting is.
Further, the system monitors the motion direction of the unmanned aerial vehicle in real time, wherein the motion track of the unmanned aerial vehicle is judged through the motion position of the unmanned aerial vehicle, and the motion direction is provided through a direction sensor of the unmanned aerial vehicle, and specifically, as a feasible option, the invention provides the following feasible schemes: the direction sensor adopts a gyroscope.
Further, the positioning base station is optimized, and the following feasible schemes are given in the invention: the positioning base station adopts a UWB (Ultra Wide Band, UWB and Ultra Wide Band) module.
Further, the positioning label is optimized, and the following feasible schemes are provided in the invention: the positioning tag adopts a UWB module.
When the fence system runs, the unmanned aerial vehicle provides self coordinates to the server in real time through the positioning tag, and the server confirms the position of the unmanned aerial vehicle; meanwhile, the unmanned aerial vehicle measures the advancing direction of the unmanned aerial vehicle through the direction sensor, and the server judges the posture and the movement trend of the unmanned aerial vehicle according to the measurement result of the direction sensor. When the unmanned aerial vehicle is located in the internal activity area, the unmanned aerial vehicle can freely move in all directions, and the server does not limit the action of the unmanned aerial vehicle; when the unmanned aerial vehicle leaves the internal activity area and enters the external buffer area, the server limits the movement direction of the unmanned aerial vehicle, the command that the unmanned aerial vehicle leaves the internal activity area is limited, and the unmanned aerial vehicle is only allowed to execute the command facing the internal activity area.
Compared with the prior art, the invention has the beneficial effects that:
the positioning base station is used for determining the flight area of the unmanned aerial vehicle, the flight area is divided into an internal activity area and an external buffer area, the position of the unmanned aerial vehicle is monitored in real time, when the unmanned aerial vehicle is in the internal activity area, the system allows the unmanned aerial vehicle to fly freely, when the unmanned aerial vehicle leaves the internal activity area and enters the external buffer area, the system limits the unmanned aerial vehicle to fly freely, and only allows the unmanned aerial vehicle to move towards the internal space area.
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 embodiments will be briefly described below, it should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic diagram of the composition of a drone fencing system.
Detailed Description
The invention is further explained below with reference to the drawings and the specific embodiments.
It should be noted that the description of the embodiments is provided to help understanding of the present invention, and the present invention is not limited thereto. Specific structural and functional details disclosed herein are merely illustrative of example embodiments of the invention. This invention may, however, be embodied in many alternate forms and should not be construed as limited to the embodiments set forth herein.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes," and/or "including," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, elements, components, and/or groups thereof.
It should also be noted that, in some alternative implementations, the functions/acts noted may occur out of the order noted in the figures. For example, two figures shown in succession may, in fact, be executed substantially concurrently, or the figures may sometimes be executed in the reverse order, depending upon the functionality/acts involved.
In the following description, specific details are provided to facilitate a thorough understanding of example embodiments. However, it will be understood by those of ordinary skill in the art that the example embodiments may be practiced without these specific details. For example, systems may be shown in block diagrams in order not to obscure the examples in unnecessary detail. In other instances, well-known processes, structures and techniques may be shown without unnecessary detail in order to avoid obscuring example embodiments.
Example 1
As shown in fig. 1, the present embodiment discloses an unmanned aerial vehicle fence system based on indoor location, including:
the system comprises a plurality of positioning base stations, a plurality of positioning base stations and a plurality of control units, wherein the positioning base stations are arranged in space and keep intervals with an indoor wall, each positioning base station limits a limit coordinate in one direction, a space area marked by the limit coordinates of the positioning base stations is an unmanned aerial vehicle flight area, and a flight buffer area comprises an internal activity area and an external buffer area;
the positioning tag is arranged on the unmanned aerial vehicle and used for detecting the current positioning of the unmanned aerial vehicle;
the direction sensor is arranged on the unmanned aerial vehicle and used for detecting the current posture of the unmanned aerial vehicle;
the acceleration sensor is arranged on the unmanned aerial vehicle and used for detecting the current acceleration of the unmanned aerial vehicle;
the processor is arranged on the unmanned aerial vehicle and used for processing the current flight data of the unmanned aerial vehicle;
the communication module is arranged on the unmanned aerial vehicle and used for sending current flight data of the unmanned aerial vehicle and receiving a control command;
the server exchanges data with the unmanned aerial vehicle through the communication module, receives and processes flight data of the unmanned aerial vehicle and generates a corresponding control instruction.
According to the unmanned aerial vehicle fence system, the external fence of the region where the unmanned aerial vehicle flies is limited by the positioning base station, and the external fence is used as the boundary of the flight buffer region, so that the limit region where the unmanned aerial vehicle flies can be effectively limited; the fence system also demarcates an internal activity area in the flying area, and the internal activity area is an area where the unmanned aerial vehicle flies freely. After the system starts, unmanned aerial vehicle's position is detected and is updated in real time, can freely fly when unmanned aerial vehicle is confirmed to be located inside activity area, leave inside activity area and get into outside buffering regional back when unmanned aerial vehicle is confirmed, and unmanned aerial vehicle loses the authority of free flight, can only fly to inside activity area.
The fence system discloses the composition of the system, the flight area of the unmanned aerial vehicle is determined by the positioning base station, and the arrangement mode of the positioning base station can directly influence the flight area of the unmanned aerial vehicle. The invention optimizes the arrangement mode of the positioning base stations, and provides a feasible scheme that the number of the positioning base stations is four, one positioning base station is taken as a reference point, the other three positioning base stations are respectively arranged in the directions of x, y and z, the four positioning base stations form a space Cartesian rectangular coordinate system, and the four positioning base stations limit the flight area of the unmanned aerial vehicle to a cubic area. When setting up like this, through setting up four location basic stations indoor, wherein the benchmark sets up in a corner department, and the adjacent corner in benchmark is set up respectively to three location basic stations in addition, so can plan unmanned aerial vehicle flight area.
In this embodiment, the relative positions of the external buffer area and the internal active area are not fixed, and the external buffer area and the internal active area may be adjacently connected and surrounded according to different indoor structures. Alternatively, the positional relationship between the two is limited, and the following possible schemes are given: the outer buffer area is positioned on the outer side of the inner activity area, the inner activity area is a cubic area, the center of the inner activity area is overlapped with the center of the flight area, and the edge length of each edge length of the inner activity area corresponding to the edge length of the flight area is reduced according to the same proportion.
The flight area is demarcated by a space Cartesian coordinate system established by the positioning base station, and each position in the flight area is demarcated by a point coordinate, so that each position of the internal activity area and the external buffer area is correspondingly determined by a uniquely determined point coordinate. When the internal activity area and the external buffer area are determined, the boundary surface of the internal activity area and the boundary surface of the external buffer area are recorded and stored in the server in a point coordinate set mode, and points on the boundary surface of the internal activity area correspond to points on the boundary surface of the external buffer area.
Whether the unmanned aerial vehicle enters the external activity area from the internal activity area or not is judged, and only the relation between the unmanned aerial vehicle and the boundary surface needs to be judged. When the unmanned aerial vehicle is positioned on the boundary surface of the internal flight area and the external buffer area, the coordinate values (x, y, z) of the unmanned aerial vehicle are just subordinate to the point coordinate set of the boundary surface, and when any two of the coordinate values (x, y, z) of the unmanned aerial vehicle correspond to one point on the boundary surface equally, the position relation of the unmanned aerial vehicle can be judged through the size relation of the remaining coordinate parameter value.
Above-mentioned scheme has explained the relative position relation in inside activity area and outside buffering area, sets up outside buffering area's root mean and lies in providing the space of slowing down for unmanned aerial vehicle, leaves inside activity area back when unmanned aerial vehicle, can fully slow down to hovering in outside buffering area. Therefore, the width of the external buffer area needs to satisfy the requirement that the unmanned aerial vehicle decelerates to the hovering width football at the minimum acceleration at the maximum speed. Specifically, one possible solution is as follows: the interval width of the external buffer area is
Wherein is V 0 For maximum speed when the unmanned aerial vehicle enters the external buffer area, a is the minimum acceleration when the unmanned aerial vehicle decelerates, t 1 Delay time, t, from sending control command to receiving control command by UAV for server 2 Receiving control instructions for unmanned aerial vehicleThe time required to achieve hover. In this scheme, the maximum speed of the drone is preset by the server, and the minimum acceleration refers to the acceleration of the drone when it is subjected to only air resistance.
The external buffer area is the limit boundary of the unmanned aerial vehicle movement, in order to improve the safety of the unmanned aerial vehicle flight area, a certain interval is reserved between the position set by the positioning base station and the indoor wall, as an option, a feasible scheme is given out here, and the interval is at least 1m. The interval width is specifically decided according to the speed of the unmanned aerial vehicle, and the larger the maximum speed of the unmanned aerial vehicle is, the larger the interval setting is.
The system monitors the motion direction of the unmanned aerial vehicle in real time, firstly, the motion track of the unmanned aerial vehicle is judged through the motion position of the unmanned aerial vehicle, and secondly, the motion direction is provided through a direction sensor of the unmanned aerial vehicle, and specifically, as a feasible option, the invention provides the following feasible schemes: the direction sensor adopts a gyroscope.
The positioning base station is optimized, and the following feasible schemes are given in the invention: the positioning base station adopts a UWB module.
The positioning label is optimized, and the following feasible schemes are provided in the invention: the positioning tag adopts a UWB module.
When the fence system runs, the unmanned aerial vehicle provides self coordinates to the server in real time through the positioning tag, and the server confirms the position of the unmanned aerial vehicle according to the self coordinates; meanwhile, the unmanned aerial vehicle measures the advancing direction of the unmanned aerial vehicle through the direction sensor, and the server judges the posture and the movement trend of the unmanned aerial vehicle according to the measurement result of the direction sensor. When the unmanned aerial vehicle is located in the internal activity area, the unmanned aerial vehicle can freely move in all directions, and the server does not limit the action of the unmanned aerial vehicle; when the unmanned aerial vehicle leaves the internal activity area and enters the external buffer area, the server limits the movement direction of the unmanned aerial vehicle, the command that the unmanned aerial vehicle leaves the internal activity area is limited, and the unmanned aerial vehicle is only allowed to execute the command facing the internal activity area.
The present invention is not limited to the above-described alternative embodiments, and various other embodiments can be obtained by those skilled in the art from the above-described embodiments in any combination, and any other embodiments can be obtained in various forms while still being within the spirit of the present invention. The above detailed description should not be taken as limiting the scope of the invention, which is defined in the claims, and which the description is intended to be interpreted accordingly.
Claims (5)
1. An unmanned aerial vehicle rail system based on indoor location, its characterized in that includes:
the system comprises a plurality of positioning base stations, wherein the positioning base stations are arranged in space and keep intervals with an indoor wall, each positioning base station limits a limit coordinate in one direction, a space area calibrated by the limit coordinates of the positioning base stations is an unmanned aerial vehicle flight area, the unmanned aerial vehicle flight area comprises an internal moving area and an external buffer area, the internal moving area is an area where the unmanned aerial vehicle flies freely, after the system is started, the position of the unmanned aerial vehicle is detected and updated in real time, the unmanned aerial vehicle can fly freely when being confirmed to be located in the internal moving area, and after the unmanned aerial vehicle is confirmed to leave the internal moving area and enter the external buffer area, the unmanned aerial vehicle loses the permission of free flight and can only fly to the internal moving area;
the positioning tag is arranged on the unmanned aerial vehicle and used for detecting the current positioning of the unmanned aerial vehicle;
the direction sensor is arranged on the unmanned aerial vehicle and used for detecting the current posture of the unmanned aerial vehicle;
the acceleration sensor is arranged on the unmanned aerial vehicle and used for detecting the current acceleration of the unmanned aerial vehicle;
the processor is arranged on the unmanned aerial vehicle and used for processing the current flight data of the unmanned aerial vehicle;
the communication module is arranged on the unmanned aerial vehicle and used for sending current flight data of the unmanned aerial vehicle and receiving a control command;
the server exchanges data with the unmanned aerial vehicle through the communication module, receives and processes flight data of the unmanned aerial vehicle and generates a corresponding control instruction;
the number of the positioning base stations is four, one positioning base station is taken as a reference point, the other three positioning base stations are respectively arranged in the x direction, the y direction and the z direction, the four positioning base stations form a space Cartesian rectangular coordinate system, and the four positioning base stations limit the flight area of the unmanned aerial vehicle to be a cubic area;
the outer buffer area is positioned at the outer side of the inner active area, the inner active area is a cubic area, the center of the inner active area is superposed with the center of the flying area, and each edge length of the inner active area is reduced by the same proportion corresponding to the edge length of the flying area;
the boundary surface of the internal activity area and the boundary surface of the external buffer area are recorded and stored in the server in a point coordinate set mode, and points on the boundary surface of the internal activity area correspond to points on the boundary surface of the external buffer area;
the interval width of the external buffer area is
Wherein is V 0 For maximum speed when the unmanned aerial vehicle enters the external buffer area, a is the minimum acceleration when the unmanned aerial vehicle decelerates, t 1 Delay time, t, from sending control command to receiving control command by UAV for server 2 The time required for the unmanned aerial vehicle to receive the control instruction and realize hovering is saved.
2. The indoor positioning-based drone fencing system of claim 1, wherein: the spacing is at least 1m.
3. An indoor positioning based drone pen system according to claim 1, characterized by: the direction sensor adopts a gyroscope.
4. The indoor positioning-based drone fencing system of claim 1, wherein: the positioning base station adopts a UWB module.
5. The indoor positioning-based drone fencing system of claim 1, wherein: the positioning tag adopts a UWB module.
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