CN111932863A - Ultraviolet LED Lambert power estimation method based on landing assistance of unmanned aerial vehicle - Google Patents
Ultraviolet LED Lambert power estimation method based on landing assistance of unmanned aerial vehicle Download PDFInfo
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Abstract
The invention provides an unmanned aerial vehicle-based landing-assisting ultraviolet LED Lambert power estimation method.A ground platform places LED array ultraviolet light with uniform intervals according to a certain rule by a signal transmitter to provide a guide signal for an unmanned aerial vehicle in a landing process; when the unmanned aerial vehicle approaches the autonomous landing platform, the receiver carried on the unmanned aerial vehicle starts to detect the ground ultraviolet light signal, and the unmanned aerial vehicle is away from the ground by h1And detecting an ultraviolet light signal, and acquiring ultraviolet light information through decoding to determine that the target launching platform is the unmanned aerial vehicle. Through the Lambert characteristic research LED light source divergence of analysis ultraviolet LED for ultraviolet LED can provide more accurate information for unmanned aerial vehicle flight guidance when as the guide light source, thereby improves the reliability that unmanned aerial vehicle descends, and this method reasonable in design can realize accurate descending under the different conditions, is suitable forThe product has wide application.
Description
Technical Field
The invention relates to the field of photoelectric technology and Lambert power calculation of ultraviolet LEDs, in particular to a landing-assisting ultraviolet LED Lambert power estimation method based on an unmanned aerial vehicle.
Background
An Unmanned Aerial Vehicle (UAV) is an unmanned piloting vehicle that is controlled using radio remote control equipment and software programs, and the main parts that make up the drone system include its platform system, the system for collecting information, and the control system for controlling the vehicle on the ground. Compared with an unmanned aerial vehicle and a manned aircraft, the unmanned aerial vehicle has smaller volume, is more flexible and has much lower manufacturing cost. In addition, the unmanned aerial vehicle is more suitable for executing tasks in some special application scenes than the manned unmanned aerial vehicle, such as image shooting in arid deserts and fire areas, delivery of rescue goods and materials in disaster areas and the like. Therefore, with the deep research of the unmanned aerial vehicle technology, the application scenes of the unmanned aerial vehicle technology are more and more extensive. However, as the flight guidance and landing technology of the unmanned aerial vehicle is not mature, the collision crash event of the unmanned aerial vehicle happens occasionally. Therefore, a safe and reliable guiding means is needed during the flight and landing of the unmanned aerial vehicle.
The photoelectric guide technology has high precision and small measurement error. In recent years, wireless ultraviolet light has become a hot topic of researchers due to its unique communication mode. Due to the solar blind characteristic, the ultraviolet light communication has the advantages of being not easy to interfere, working in all weather and the like, and can work in complex environments. The wireless ultraviolet light is used as a guide light source for unmanned aerial vehicle navigation, and the defect of GPS navigation is made up to a certain extent. An LED (Light emitting diode) Light source has the advantages of low-voltage power supply, low energy consumption, strong applicability, high stability, short response time, no environmental pollution, multi-color Light emission and the like, and is widely used in daily life.
Disclosure of Invention
The invention provides an ultraviolet LED Lambert power estimation method based on landing assistance of an unmanned aerial vehicle, which aims to solve the problems in the prior art and is characterized in that LED array ultraviolet light with uniform intervals is placed on a ground platform according to a signal transmitter according to a certain rule in the landing process to provide a guide signal for the unmanned aerial vehicle, and divergence of an LED light source is researched by analyzing Lambert characteristics of ultraviolet LEDs, so that more accurate information can be provided for flight guidance of the unmanned aerial vehicle when the ultraviolet LEDs are used as the guide light source, and the landing reliability of the unmanned aerial vehicle is improved.
The invention aims to build a set of unmanned aerial vehicle landing-assistant guiding system, which can obtain the position and height of an unmanned aerial vehicle through ultraviolet communication to guide the unmanned aerial vehicle to land.
The invention also aims to research the divergence of the LED light source by analyzing the Lambert characteristics of the ultraviolet LED, so that the ultraviolet LED can provide more accurate information for the flight guidance of the unmanned aerial vehicle when being used as a guide light source.
In order to realize the task, the technical scheme of the invention is as follows;
the unmanned aerial vehicle-based landing-assisting ultraviolet LED Lambert power estimation method is characterized by comprising the following steps of; comprises the following steps;
when the unmanned aerial vehicle approaches the autonomous landing platform, a receiver carried on the unmanned aerial vehicle starts to detect a ground ultraviolet light signal; when the unmanned plane is away from the ground h1Detecting an ultraviolet light signal, and acquiring ultraviolet light information through decoding to determine that the target throwing platform is the unmanned aerial vehicle; because the ultraviolet light transmission distance in the identification area is long, the attenuation is large, the power distribution is uneven, and the ultraviolet detector cannot detect the ultraviolet light signal when the ultraviolet light signal is smaller than a certain threshold value, the minimum ultraviolet light signal of the plane is required to be ensured not to be lower than a certain value at the moment. In order to ensure that the ultraviolet signal has no detection blind area, the ultraviolet power can be increased as much as possible, and the ultraviolet power of the plane can be uniformly distributed by reasonably arranging LEDs;
when light is transmitted in the air, the shorter the wavelength is, the larger the attenuation is, the shorter the wavelength of ultraviolet light is, when the light is transmitted in the atmosphere, the light is scattered and absorbed by particles in the atmosphere, the attenuation is increased, when ultraviolet light LED communication is researched, not only the scattering and absorption of the atmospheric particles to the ultraviolet light but also the Lambert characteristic of the LED itself need to be considered;
the lambertian radiator refers to a radiation source with constant radiation brightness in all directions and radiation intensity following a cosine law along with the change of an included angle theta between an observation direction and a surface source normal; the Lambert cosine theorem is
I＝I0cosθ (1)
Wherein I represents the intensity of radiation in the direction at the observer angle, I0Indicating the central luminous intensity of the LED light source. The lambert cosine law at this time is that the default light source diverges towards each direction;
however, the LED light source does not completely follow the lambert cosine law, and its radiation intensity is also related to the divergence of the light source itself. The ultraviolet light LED is assumed to be a Lambertian radiation model, and the radiation intensity of a light source at a radiation angle theta is;
wherein I (0) represents the radiation intensity of the light source at an angle of 0, and m represents the divergence of the light source; total radiation energy P of ultraviolet LEDtCan be represented as;
namely the radiation intensity of the central intensity of the light source is;
when the intensity of the light emitted by the LED at a certain angle is reduced to half of the normal light intensity, the angle at the moment is a half-power angle, and a half-power angle theta is set1/2Then;
then there is
From the formula (6), it can be obtained
Half power angle theta1/2The smaller the half-power angle, the less the LED intensity is, i.e. the light intensity is concentrated in the normal direction, which means the light source has stronger directivity. The divergence angle of the laser is about 1.18 times the half power angle;
the expression (4) is substituted into the expression (2) to obtain;
the direct-view receiving optical power of ultraviolet light is as follows;
wherein, PtRepresents the emitted optical power; r represents an ultraviolet light transmission path; λ represents a wavelength; keRepresents the attenuation coefficient; a. therRepresents the area of the receive aperture;
when the angle of the receiver is theta, substituting the formula (9) into the formula (8) according to the ultraviolet light transmitting and receiving optical power formula, wherein the ultraviolet LED transmitting and receiving optical power formula is as follows;
derivation is carried out on the Lambert order m;
order to
Wherein θ ≠ 0, when the angle of the receiver is not zero and is fixed, if the ultraviolet light is to be received at the angle to the maximum extent, the light source with the optimal lambertian order can be selected according to the formula (11);
step 2: when the unmanned aerial vehicle approaches the autonomous landing platform, a receiver carried on the unmanned aerial vehicle starts to detect a ground ultraviolet light signal; when the unmanned plane is away from the ground h1Detecting an ultraviolet light signal, and acquiring ultraviolet light information through decoding to determine that the target throwing platform is the unmanned aerial vehicle;
and step 3: the unmanned plane begins to descend to the height h2When the unmanned aerial vehicle enters the communication area; the unmanned aerial vehicle determines the position of the unmanned aerial vehicle and adjusts the throwing attitude according to the received ultraviolet light ID number;
and 4, step 4: after the flight attitude of the unmanned aerial vehicle is adjusted, the unmanned aerial vehicle begins to descend to enter a landing area; the unmanned aerial vehicle receiving the information gradually reduces the descending speed and falls to the landing platform, and the landing is completed.
Establishing a set of wireless ultraviolet light guide system, wherein the system comprises a transmitter, an atmosphere channel and a receiver; installing a signal transmitter on a landing guide platform, and placing LED arrays with uniform intervals according to a certain rule to provide a guide signal for the unmanned aerial vehicle; the signal receiver is installed on the unmanned aerial vehicle, acquires the position of the unmanned aerial vehicle according to the received LED signal, and senses and adjusts the flight attitude of the unmanned aerial vehicle according to the three-axis sensor;
the ultraviolet LED has a divergence angle, and when the ultraviolet LED is used for flight guidance, the ultraviolet power on any height plane is not uniformly distributed; the distribution of the ultraviolet LEDs is required to be adjusted according to parameters such as the divergence angle and the emission power of the ultraviolet LEDs, so that the power of the ultraviolet LEDs is uniformly distributed, and a reliable guiding environment is provided for landing guidance of the unmanned aerial vehicle;
unmanned aerial vehicle landing platform comprises a plurality of LED's of arranging evenly, and every LED all has different codes, includes self ID serial number and positional information in the code. When the unmanned aerial vehicle flies to the landing platform, the position of the unmanned aerial vehicle is determined according to the received ID of the LED code, the flying height of the unmanned aerial vehicle is obtained according to the received ultraviolet power of the LED, and the unmanned aerial vehicle independently lands.
The invention has the advantages that;
the method is characterized in that in the autonomous flying and landing process of the unmanned aerial vehicle, the ground platform places LED array ultraviolet light with uniform intervals according to a certain rule by a signal transmitter to provide a guide signal for the unmanned aerial vehicle, and researches the divergence of an LED light source by analyzing the Lambert characteristic of the ultraviolet LED, so that the ultraviolet LED can provide more accurate information for the flying guide of the unmanned aerial vehicle when being used as the guide light source, thereby improving the landing reliability of the unmanned aerial vehicle.
Drawings
Fig. 1, unmanned aerial vehicle landing plane design;
fig. 2, unmanned aerial vehicle autonomous landing process;
FIG. 3, schematic diagram of UV LED Lambertian radiation model;
FIG. 4, received optical power PtA relationship with a lambertian order m;
FIG. 5, received optical power PtAnd the transmission path r.
Detailed Description
The following detailed description of embodiments of the invention is intended to be illustrative, and not to be construed as limiting the invention.
As shown in fig. 1, a set of wireless ultraviolet guidance system is established, the system comprises a transmitter, an atmospheric channel and a receiver, the signal transmitter is installed on a landing guidance platform, LED arrays with uniform intervals are placed according to a certain rule to provide guidance signals for an unmanned aerial vehicle, the signal receiver is installed on the unmanned aerial vehicle, the position of the unmanned aerial vehicle is obtained according to the received LED signals, and the flight attitude of the unmanned aerial vehicle is sensed and adjusted according to a three-axis sensor;
the transmitter selects an R7154 transmitter for outdoor experimental verification, and the gain of the transmitter is 107The photoelectric conversion efficiency was 25%.
As shown in fig. 3, the ultraviolet LED has a divergence angle, and when the ultraviolet LED is used for flight guidance, the ultraviolet power at any height plane is not uniformly distributed. The distribution of the ultraviolet LEDs is required to be adjusted according to parameters such as the divergence angle and the emission power of the ultraviolet LEDs, so that the power of the ultraviolet LEDs is uniformly distributed, and a reliable guiding environment is provided for landing guidance of the unmanned aerial vehicle.
As shown in fig. 2, the unmanned aerial vehicle landing platform is composed of a plurality of LEDs arranged uniformly, each LED has a different code, and the code includes its own ID number and position information. When the unmanned aerial vehicle flies to the landing platform, the position of the unmanned aerial vehicle is determined according to the received ID of the LED code, the flying height of the unmanned aerial vehicle is obtained according to the received ultraviolet power of the LED, and the unmanned aerial vehicle independently lands.
As shown in fig. 1, in step 1, when the unmanned aerial vehicle approaches the autonomous landing platform, a receiver mounted on the unmanned aerial vehicle starts to detect a ground ultraviolet light signal. When the unmanned plane is away from the ground h1And detecting an ultraviolet light signal, and acquiring ultraviolet light information through decoding to determine that the target launching platform is the unmanned aerial vehicle. Because the ultraviolet light transmission distance in the identification area is long, the attenuation is large, the power distribution is uneven, and the ultraviolet detector cannot detect the ultraviolet light signal when the ultraviolet light signal is smaller than a certain threshold value, the minimum ultraviolet light signal of the plane is required to be ensured not to be lower than a certain value at the moment. In order to ensure that the ultraviolet signal has no detection blind area, the ultraviolet power can be increased as much as possible, and the ultraviolet power of the plane can be uniformly distributed through reasonably arranging the LEDs.
For uv LED power calculation:
when light propagates through air, attenuation is large as the wavelength is shorter. The ultraviolet light has shorter wavelength, and is scattered and absorbed by particles in the atmosphere when transmitted in the atmosphere, so that the attenuation is increased. When ultraviolet light LED communication is researched, not only scattering and absorption of atmospheric particles to ultraviolet light but also Lambert characteristics of the LED are considered;
the lambertian radiator refers to a radiation source in which the radiation brightness in all directions of the radiation source is unchanged, and the radiation intensity follows the cosine law along with the change of an included angle theta between the observation direction and the normal line of a surface source.
The Lambert cosine theorem is;
I＝I0cosθ (1)
wherein I represents the intensity of radiation in the direction at the observer angle, I0Indicating the central luminous intensity of the LED light source. The lambert cosine law at this time is that the default light source diverges towards each direction;
as shown in fig. 3, but the LED light source does not completely follow lambert's cosine law, and its radiation intensity is also related to the divergence of the light source itself; the ultraviolet light LED is assumed to be a Lambertian radiation model, and the radiation intensity of a model light source at a radiation angle theta is;
wherein I (0) represents the radiation intensity of the light source at an angle of 0, and m represents the divergence of the light source;
as can be seen from the formula 2 and FIG. 3, the total radiation energy P of the UV LEDtCan be represented as;
namely the radiation intensity of the central intensity of the light source is;
when the intensity of the light emitted by the LED at a certain angle is reduced to half of the normal light intensity, the angle at the moment is a half-power angle, and a half-power angle theta is set1/2Then;
if so, then there is;
can be obtained according to the formula (6);
as shown in fig. 5, the half power angle θ1/2And the divergence of the light source, the half power angle here is not the divergence angle of the light source. When the intensity of light emitted by the LED at a certain angle is reduced to half of the normal light intensity, the smaller the half-power angle at that time indicates that the LED light intensity deviating from the normal direction is smaller, that is, the light intensity is concentrated in the normal direction, which means that the light source has stronger directivity. The divergence angle of the laser is about 1.18 times the half power angle;
the expression (4) is substituted into the expression (2) to obtain;
the direct-view receiving optical power of ultraviolet light is as follows;
wherein, PtRepresents the emitted optical power; r represents an ultraviolet light transmission path; λ represents a wavelength; keRepresents the attenuation coefficient; a. therRepresents the area of the receive aperture;
when the angle of the receiver is theta, substituting the formula (9) into the formula (8) according to the ultraviolet light transmitting and receiving optical power formula, wherein the ultraviolet LED transmitting and receiving optical power formula is as follows;
the derivative is taken on the number m of lambertian orders,
order to
FIG. 4, where θ ≠ 0; when the receiver angle is not zero and fixed, a light source with an optimal lambertian order can be selected according to equation (11) if the maximum reception of uv light is to be achieved at this angle.
As shown in fig. 2, step 2: when the unmanned aerial vehicle approaches the autonomous landing platform, a receiver carried on the unmanned aerial vehicle starts to detect a ground ultraviolet light signal; when the unmanned plane is away from the ground h1Detecting an ultraviolet light signal, and acquiring ultraviolet light information through decoding to determine that the target throwing platform is the unmanned aerial vehicle;
and step 3: the unmanned plane begins to descend to the height h2When the unmanned aerial vehicle enters the communication area; the unmanned aerial vehicle determines the position of the unmanned aerial vehicle and adjusts the throwing attitude according to the received ultraviolet light ID number;
and 4, step 4: after the flight attitude of the unmanned aerial vehicle is adjusted, the unmanned aerial vehicle begins to descend to enter a landing area; the unmanned aerial vehicle receiving the information gradually reduces the descending speed and falls to the landing platform, and the landing is completed.
While embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and should not be taken as limiting the invention. Variations, modifications, substitutions and alterations of the above-described embodiments may be made by those skilled in the art without departing from the principles and spirit of the invention.
Claims (5)
1. An unmanned aerial vehicle-based landing-assisting ultraviolet LED Lambert power estimation method is characterized by comprising the following steps of; comprises the following steps;
step 1; building a set of unmanned aerial vehicle landing-assisting guide system, wherein a coded ultraviolet LED array of the system is used as a guide light source, and the position and height of the unmanned aerial vehicle are obtained through ultraviolet light communication to guide the unmanned aerial vehicle to land;
step 2: when the unmanned aerial vehicle approaches the autonomous landing platform, a receiver carried on the unmanned aerial vehicle starts to detect a ground ultraviolet light signal; when the unmanned plane is away from the ground h1Detecting an ultraviolet light signal, and acquiring ultraviolet light information through decoding to determine that the target throwing platform is the unmanned aerial vehicle;
and step 3: the unmanned plane begins to descend to the height h2When the unmanned aerial vehicle enters the communication area; the unmanned aerial vehicle determines the position of the unmanned aerial vehicle and adjusts the throwing attitude according to the received ultraviolet light ID number;
and 4, step 4: after the flight attitude of the unmanned aerial vehicle is adjusted, the unmanned aerial vehicle begins to descend to enter a landing area; the unmanned aerial vehicle receiving the information gradually reduces the descending speed and falls to the landing platform, and the landing is completed.
2. The unmanned aerial vehicle landing assistant ultraviolet LED Lambert power estimation method as claimed in claim 1, wherein a set of unmanned aerial vehicle landing assistant guidance system is established, the system comprises a transmitter, an atmospheric channel and a receiver; installing a signal transmitter on a landing guide platform, and placing LED arrays with uniform intervals according to a certain rule to provide a guide signal for the unmanned aerial vehicle; the signal receiver is installed on the unmanned aerial vehicle, obtains the unmanned aerial vehicle position according to the LED signal that receives, according to triaxial sensor perception and adjustment unmanned aerial vehicle flight gesture.
3. The unmanned aerial vehicle landing assistant ultraviolet LED Lambert power estimation method as claimed in claim 1, wherein the unmanned aerial vehicle approaching the autonomous landing platform is composed of a plurality of uniformly arranged LEDs, each LED has a different code, and the code includes its own ID number and position information. When the unmanned aerial vehicle flies to the landing platform, the position of the unmanned aerial vehicle is determined according to the received ID of the LED code, the flying height of the unmanned aerial vehicle is obtained according to the received ultraviolet power of the LED, and the unmanned aerial vehicle independently lands.
4. The UAV assisted landing UV LED Lambert power estimation method of claim 1, wherein the UAV starts to descend to a height h2When the ultraviolet LED is used for flight guidance, the ultraviolet power at any height plane is not uniformly distributed, and the distribution of the ultraviolet LED is adjusted according to parameters such as the divergence angle and the emission power of the ultraviolet LED, so that the ultraviolet LED power is uniformly distributed, and a reliable guidance environment is provided for landing guidance of the unmanned aerial vehicle.
5. The unmanned aerial vehicle landing assisting ultraviolet LED Lambert power estimation method according to claim 2, wherein the transmitter is verified by an outdoor experiment by using an R7154 transmitter. The gain of the transmitter is 107The photoelectric conversion efficiency is 25%; when the receiver is not in the normal direction of the light source and the angle is fixed, an optimal lambertian order m exists, so that the receiver obtains the maximum received light power at the angle; in practical applications, when the receiver is not in the normal direction of the light source and the angle is fixed, the LED corresponding to the divergence angle is selected so that the receiver receives the ultraviolet light at the position to the maximum extent.
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