CN111751858B - Unmanned aerial vehicle anti-interference high accuracy navigation module - Google Patents
Unmanned aerial vehicle anti-interference high accuracy navigation module Download PDFInfo
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- CN111751858B CN111751858B CN202010433391.1A CN202010433391A CN111751858B CN 111751858 B CN111751858 B CN 111751858B CN 202010433391 A CN202010433391 A CN 202010433391A CN 111751858 B CN111751858 B CN 111751858B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- Radar, Positioning & Navigation (AREA)
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- Position Fixing By Use Of Radio Waves (AREA)
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Abstract
The invention discloses an unmanned aerial vehicle anti-interference high-precision navigation module, which comprises a main control module, wherein the main control module is connected with an electric control safety switch, the electric control safety switch is connected with a power supply module, an anti-interference module and a central processing unit, the anti-interference module comprises a navigation interference starting switch, the navigation interference starting switch is connected with a navigation interference signal source, the navigation interference signal source is connected with a navigation interference signal transmitting antenna, the navigation interference signal transmitting antenna is connected with SAW+LNA+SAW filtering, so that the signal recovery time under interference is greatly shortened, the central processing unit comprises a processor module, the processor module is connected with a CAN transceiver module, the processor module is simultaneously connected with a positioning module and a barometer, the positioning module is connected with an RM3100 sensor, the sampling rate is high, no hysteresis phenomenon is avoided, the image module is connected with a data module, the anti-interference capability is strong, the central processing unit is combined, the signal recovery speed is improved, and the accuracy is high.
Description
Technical Field
The invention belongs to the technical field of related navigation modules, and particularly relates to an unmanned aerial vehicle anti-interference high-precision navigation module.
Background
Unmanned aerial vehicles, for short unmanned aerial vehicles, are unmanned aerial vehicles which are operated by radio remote control equipment and a self-contained program control device, or are operated by a vehicle-mounted computer completely or intermittently and autonomously, and compared with unmanned aerial vehicles, unmanned aerial vehicles are more suitable for completing some dangerous or special tasks. Unmanned aerial vehicle according to the application field, can divide into for military use and civilian, the application of unmanned aerial vehicle itself has not only been extended to unmanned aerial vehicle's development, and some developed countries are also being actively expanding trade application and developing unmanned aerial vehicle technique, among unmanned aerial vehicle technique, unmanned aerial vehicle navigation is as one of them important technological branch, the influence to unmanned aerial vehicle is very big, the unmanned aerial vehicle navigation module of mainstream at present adopts GPS chip to combine sensor such as geomagnetic sensor, barometer to fuse the navigation, but because unmanned aerial vehicle fuselage tends to be less, electrical equipment is complicated, cause mutual interference very easily. A typical situation is when some data transfer beds are close to GPS, where the GPS signal is severely impaired or even not locatable. In addition, as the navigation module adopts a consumer-level geomagnetic sensor such as ist8310, the electromagnetic buzzer coil and the environment on the navigation module are easy to interfere, and the channel is blocked, so that the numerical value is easily too large to calibrate the unmanned aerial vehicle. Related technical files such as unmanned aerial vehicle positioning navigation devices and control methods thereof, in the files, CAN buses are used for communication, but the method only CAN ensure that communication signals are not interfered, but cannot ensure numerical stability of a geomagnetic sensor and normal positioning of a GPS under certain interference, long-time positioning accuracy is poor, errors are larger and larger, and finally the state and position information of the unmanned aerial vehicle cannot be accurately reflected.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle anti-interference high-precision navigation module, which aims to solve the problems that the current unmanned aerial vehicle anti-interference high-precision navigation module provided in the background technology is easy to be oversized in numerical value and can not calibrate an unmanned aerial vehicle because a channel is blocked when the current unmanned aerial vehicle anti-interference high-precision navigation module is used for a long time.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the utility model provides an unmanned aerial vehicle anti-interference high accuracy navigation module, includes main control module, its characterized in that: the main control module is connected with the electric control safety switch, and the electric control safety switch is connected with the power supply module, the anti-interference module and the central processing unit.
Preferably, the anti-interference module comprises a navigation interference starting switch, the navigation interference starting switch is connected with a navigation interference signal source, the navigation interference signal source is connected with a navigation interference signal transmitting antenna, and the navigation interference signal transmitting antenna is connected with SAW+LNA+SAW filtering.
Preferably, the central processing unit comprises a processor module, the processor module is connected with the CAN transceiver module, the processor module is simultaneously connected with the positioning module and the barometer, the positioning module is respectively connected with the image module and the RM3100 sensor, and the image module is connected with the data module.
Preferably, the main control module comprises a satellite, wherein the satellite is connected with a radar, and the radar is connected with a remote controller.
Preferably, the RM3100 sensor is comprised of 2X/Y axis magnetic sensors Sen-XY-f (13104), 1Z axis magnetic sensor Sen-Z-f (13101) and 1 ASIC controller magI 2C.
Preferably, the saw+lna+saw filter is a SAW filter of B39152B3421U 410.
Compared with the prior art, the invention provides the unmanned aerial vehicle anti-interference high-precision navigation module, which has the following beneficial effects:
in the invention, in order to solve the propagation interference to the image data, SAW+LNA+SAW is used for triple filtering to the antenna signal, so that the GPS signal recovery time under the interference is greatly shortened, and the precision loss is smaller. The difficulty of this part is that when the filter circuit increases, normal signals will be weakened, resulting in the reduction of the satellite searching precision and quantity, but the SAW filter of B39152B3421U410 is selected to suppress the out-of-band signals amplified by the LNA based on the conventional lna+saw filtering, so as to weaken the signal interference of the data transmission image transmission, and obtain better anti-interference performance under the condition of lower loss of positioning precision. Moreover, because the electromagnetic buzzer is often built in the positioning module, the normal operation of the compass can be seriously influenced by the interference of the coil of the buzzer and the complex environment, and therefore, the RM3100 industrial-level geomagnetic sensor is adopted, the RM3100 magnetic sensor consists of 2X/Y-axis magnetic sensors Sen-XY-f (13104), 1Z-axis magnetic sensor Sen-Z-f (13101) and 1 ASIC controller magI2C, the resolution of the positioning module is 10 times that of the Hall sensor and the noise of the positioning module is lower than 20 times, the positioning module not only has high resolution and repeated data output under ultralow noise, but also has high sampling rate and no hysteresis phenomenon, and does not need to perform temperature calibration, so that the positioning module can meet the use under the severe industrial environment. In communication, the UAV CAN bus communication technology is adopted, the UAV CAN bus is high in speed and high in anti-interference capability, and the navigation module with similar functions in the prior art is compressed to only 4 signal wires by combining a central processing unit, so that the risk of interference of data transmission is reduced to a certain extent. Therefore, the invention obtains the data transmission from the original data of the sensor, performs omnibearing anti-interference protection, greatly enhances the anti-interference performance of the unmanned aerial vehicle navigation module under the condition of not losing the data, improves the GPS signal recovery speed, and has higher accuracy compared with the positioning and navigation adopting a single sensor.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate and together with the embodiments of the invention and do not constitute a limitation to the invention, and in which:
fig. 1 is a schematic structural diagram of an anti-interference high-precision navigation module of an unmanned aerial vehicle;
fig. 2 is a schematic diagram of a main control module according to the present invention;
FIG. 3 is a schematic diagram of an anti-interference module according to the present invention;
FIG. 4 is a schematic diagram of a CPU according to the present invention;
in the figure: 1. a satellite; 2. a radar; 3. a remote controller; 4. an electric control safety switch; 5. a power module; 6. a navigation interference start switch; 7. navigation interference signal source; 8. a navigation interference signal transmitting antenna; 9. saw+lna+saw filtering; 10. an anti-interference module; 11. a processor module; 12. a CAN transceiver module; 13. a positioning module; 14. an image module; 15. a data module; 16. a barometer; 17. RM3100 sensor; 18. a central processing unit; 19. and a main control module.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-4, the present invention provides a technical solution:
the utility model provides an unmanned aerial vehicle anti-interference high accuracy navigation module, includes main control module 19, its characterized in that: the main control module 19 includes satellite 1, radar 2 is connected to satellite 1, remote controller 3 is connected to radar 2, automatically controlled safety switch 4 is connected to main control module 19, automatically controlled safety switch 4 connects power module 5, anti-interference module 10 and central processing unit 18, anti-interference module 10 includes navigation interference start switch 6, navigation interference start switch 6 connects navigation interference signal source 7, navigation interference signal source 7 connects navigation interference signal transmitting antenna 8, navigation interference signal transmitting antenna 8 connects SAW+LNA+SAW filter 9, SAW+LNA+SAW filter 9 selects the SAW filter of B39152B3421U410, uses SAW+LNA+SAW to carry out triple filtering to the antenna signal for signal recovery time shortens greatly under the interference, and the precision loss is less. The difficulty of this part is that when the filter circuit increases, normal signals will be weakened, resulting in the reduction of the star searching precision and number, but by selecting the SAW filter of B39152B3421U410, under the basis of the traditional lna+saw filtering, the out-of-band signal amplified by the LNA is suppressed, so as to weaken the signal interference of the data transmission image transmission, so that better anti-interference performance is obtained under the condition of lower loss of positioning precision, the central processing unit 18 comprises a processor module 11, the processor module 11 is connected with a CAN transceiver module 12, the processor module 11 is simultaneously connected with a positioning module 13 and a barometer 16, the positioning module 13 is respectively connected with an image module 14 and an RM3100 sensor 17, the positioning module 13 is often built with an electromagnetic buzzer, and the interference of the coil of the buzzer and the complex environment may seriously affect the normal operation of the compass, therefore, the RM3100 magnetic sensor is composed of 2X/Y axis magnetic sensors Sen-XY-f (13104), 1Z axis magnetic sensor Sen-Z-f (13101) and 1 ASIC controller magI2C, the resolution of 10 times of the Hall sensor and the noise lower than 20 times are adopted, the RM3100 magnetic sensor has the high resolution and repeatability data output under ultra-low noise, the sampling rate is high, hysteresis is avoided, the temperature calibration is not needed, the anti-interference module 10 CAN meet the use under the severe industrial environment, the image module 14 is connected with the data module 15, in terms of communication, the UAV CAN bus communication technology is adopted, the UAV CAN bus speed is high, the anti-interference capability is strong, the anti-interference module 10 module with the traditional similar function is compressed to only 4 signal wires by combining with the CPU, the risk that the data module 15 is interfered is reduced to a certain extent, the anti-interference performance of the unmanned aerial vehicle navigation module is greatly enhanced, the signal recovery speed is improved, and compared with the positioning and navigation adopting a single sensor, the accuracy is higher.
The working principle and the using flow of the invention are as follows: after the structure part of the utility model is known, the utility model can be used. When the remote controller 3 is operated to control the electric control safety switch 4, when the anti-interference module 10 supplies power, the positioning module 13 CAN automatically work, the SAW+LNA+SAW filter 9 circuit formed by three-stage filters of B39162B8813P810, LQP TQ4N7H02D, BGA N7 CAN filter, amplify and reject the signals received by the navigation signal interference transmitting antenna 8, then the positioning module 13, the image module 14 and the data module 15 are processed and analyzed, the CAN transceiver module 12 is connected with the processor module 11 to receive and transmit flight data, the data from the barometer 16, the positioning module 13 and the RM3100 sensor 17 are processed by the processor module 11 to be packed and transmitted to the flight controller, and functions of fusion positioning navigation, state indication and the like of the flight controller are realized according to flight control instruction numbers. This patent can effectively improve unmanned aerial vehicle positioning module 13's interference immunity under the unchangeable circumstances of positioning accuracy, module volume for unmanned aerial vehicle receives under the certain interference condition, positioning function and precision can resume fast, have further improved interference immunity of interference killing module 10 simultaneously.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (1)
1. The utility model provides an unmanned aerial vehicle anti-interference high accuracy navigation module, includes main control module (19), its characterized in that: the main control module (19) is connected with the electric control safety switch (4), and the electric control safety switch (4) is connected with the power supply module (5), the anti-interference module (10) and the central processing unit (18);
the anti-interference module (10) comprises a navigation interference starting switch (6), the navigation interference starting switch (6) is connected with a navigation interference signal source (7), the navigation interference signal source (7) is connected with a navigation interference signal transmitting antenna (8), and the navigation interference signal transmitting antenna (8) is connected with a SAW+LNA+SAW filter (9);
the central processing unit (18) comprises a processor module (11), the processor module (11) is connected with the CAN transceiver module (12), the processor module (11) is simultaneously connected with the positioning module (13) and the barometer (16), the positioning module (13) is respectively connected with the image module (14) and the RM3100 sensor (17), and the image module (14) is connected with the data module (15);
the main control module (19) comprises a satellite (1), wherein the satellite (1) is connected with a radar (2), and the radar (2) is connected with a remote controller (3);
the RM3100 sensor (17) consists of 2X/Y-axis magnetic sensors Sen-XY-f (13104), 1Z-axis magnetic sensor Sen-Z-f (13101) and 1 ASIC controller magI2C, so that the interference of the coil of the buzzer and the normal operation of the compass in a complex environment is reduced;
the SAW+LNA+SAW filter (9) is a SAW filter of B39152B3421U410, and suppresses the out-of-band signal amplified by the LNA, so as to weaken the signal interference of the data transmission image.
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| CN112669647A (en) * | 2020-12-30 | 2021-04-16 | 山西平阳重工机械有限责任公司 | Intelligent geomagnetic detector |
| CN113517945B (en) * | 2021-04-26 | 2024-07-09 | 南京聚变信息科技有限公司 | Unmanned aerial vehicle anti-interference communication navigation device and method |
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| CN103116170A (en) * | 2013-01-16 | 2013-05-22 | 武汉大学 | Indoor testing system of antenna array based interference rejection module of global navigation satellite system (GNSS) |
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Patent Citations (5)
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| EP2367026A1 (en) * | 2010-03-13 | 2011-09-21 | LFK-Lenkflugkörpersysteme GmbH | Device and method for determining the position and/or speed of a device in a satellite navigation system |
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