CN111932863B - Ultraviolet LED Lambert power estimation method based on landing assistance of unmanned aerial vehicle - Google Patents
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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 divergence of the Lambert characteristic research LED light source 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 situation, and extensive applicability is extensive.
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;
an unmanned aerial vehicle-based landing-assisting ultraviolet LED Lambert power estimation method comprises the following steps;
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 aerial vehicle is away from the ground h1, detecting an ultraviolet light signal, and acquiring ultraviolet light information through decoding to determine that the unmanned aerial vehicle is a target launching platform;
and step 3: when the unmanned aerial vehicle begins to descend to the height h2, the unmanned aerial vehicle enters a 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 a landing platform, and the landing is finished;
the method comprises the steps of establishing a set of unmanned aerial vehicle landing-assisting 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;
when the unmanned aerial vehicle approaches the autonomous landing platform, the unmanned aerial vehicle consists of a plurality of uniformly arranged LEDs, each LED has different codes, and the codes comprise self ID numbers 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 lands autonomously;
and (3) calculating the power of the ultraviolet LED: when ultraviolet light LED communication is researched, not only the scattering and absorption of atmospheric particles to ultraviolet light but also the characteristics of a Lambert radiator of an LED are 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)
in the formula IThe intensity of radiation in this direction, I, at an observer angle theta0Representing 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;
the LED light source does not completely follow the Lambert cosine law, and the radiation intensity of the LED light source is also related to the divergence of the LED light source; 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 shown in formula 2, the total radiation energy P of the 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;
if so, then there is;
can be obtained according to the formula (6);
half power angle theta1/2Related to the divergence of the light source, the half-power angle 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 the moment, the smaller the LED light intensity deviating from the normal direction is, namely the light intensity is concentrated in the normal direction, which means that the directivity of the light source is stronger, and the divergence angle of the laser is about 1.18 times of 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; 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 transceiving optical power formula, and then obtaining the ultraviolet light transceiving optical power formula;
the derivative is taken on the number m of lambertian orders,
order to
Wherein theta is not equal to 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.
When the unmanned aerial vehicle starts to descend to a height of h2, the ultraviolet LED has a divergence angle, when the ultraviolet LED is used for flight guidance, the ultraviolet power on any height plane is not uniformly distributed, and the distribution of the ultraviolet LED is adjusted according to the divergence angle and the emission power parameters 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.
The transmitter selects an R7154 type transmitter for outdoor experimental verification; 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 angle to the maximum extent.
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 uniformly arranged LEDs, each LED has a different code, the code comprises a self 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 lands autonomously.
As shown in fig. 1, in step 1, when an unmanned aerial vehicle approaches an 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 h1When the ultraviolet light signal is detected, the ultraviolet light signal,and obtaining 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 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 an observer angle θ, I0Representing 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, 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 shown in the formula (2), the total radiation energy P of the 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;
if so, then there is;
can be obtained according to the formula (6);
half power angle theta1/2Related to the divergence of the light source, the half-power angle 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 the moment, the smaller the LED light intensity deviating from the normal direction is, namely the light intensity is concentrated in the normal direction, which means that the directivity of the light source is stronger, and the divergence angle of the laser is about 1.18 times of 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; 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 transceiving optical power formula, and then obtaining the ultraviolet light transceiving optical power formula;
the derivative is taken on the number m of lambertian orders,
order to
Wherein theta is not equal to 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 that the unmanned aerial vehicle is unmanned through the ID number according to the received ultraviolet lightAdjusting the throwing posture of the machine position;
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.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (3)
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, a set of unmanned aerial vehicle landing-assisting guide system is set up, the coded ultraviolet LED array of the system is used as a guide light source, and the position and the 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 aerial vehicle is away from the ground h1, detecting an ultraviolet light signal, and acquiring ultraviolet light information through decoding to determine that the unmanned aerial vehicle is a target launching platform;
and step 3: when the unmanned aerial vehicle begins to descend to the height h2, the unmanned aerial vehicle enters a 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 a landing platform, and the landing is finished;
the method comprises the steps of establishing a set of unmanned aerial vehicle landing-assisting 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;
when the unmanned aerial vehicle approaches the autonomous landing platform, the unmanned aerial vehicle consists of a plurality of uniformly arranged LEDs, each LED has different codes, and the codes comprise self ID numbers 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 lands autonomously;
and (3) calculating the power of the ultraviolet LED: when ultraviolet light LED communication is researched, not only the scattering and absorption of atmospheric particles to ultraviolet light but also the characteristics of a Lambert radiator of an LED are 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 an observer angle θ, I0Representing 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;
the LED light source does not completely follow the Lambert cosine law, and the radiation intensity of the LED light source is also related to the divergence of the LED light source; 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 shown in the formula (2), the total radiation energy P of the 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;
if so, then there is;
can be obtained according to the formula (6);
half power angle theta1/2Related to the divergence of the light source, the half-power angle 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 the moment, the smaller the LED light intensity deviating from the normal direction is, namely the light intensity is concentrated in the normal direction, which means that the directivity of the light source is stronger, and the divergence angle of the laser is about 1.18 times of 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; 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 transceiving optical power formula, and then obtaining the ultraviolet light transceiving optical power formula;
the derivative is taken on the number m of lambertian orders,
order to
Wherein theta is not equal to 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.
2. The unmanned aerial vehicle landing assistance ultraviolet LED Lambert power estimation method as claimed in claim 1, wherein when the unmanned aerial vehicle starts to descend to a height h2, the ultraviolet LEDs have a divergence angle, when the ultraviolet LEDs are used for flight guidance, the ultraviolet power at any height plane is non-uniformly distributed, and the distribution of the ultraviolet LEDs is adjusted according to the divergence angle and the emission power parameters of the ultraviolet LEDs, so that the ultraviolet LED power is uniformly distributed, and a reliable guidance environment is provided for landing guidance of the unmanned aerial vehicle.
3. 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 with 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 angle to the maximum extent.
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| US8493289B2 (en) * | 2007-11-05 | 2013-07-23 | Texas Instruments Incorporated | Scanning mirror based display system and method |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103569372A (en) * | 2013-10-12 | 2014-02-12 | 西安理工大学 | Wireless ultraviolet light-based helicopter landing boosting system and landing boosting method |
| CN105487557A (en) * | 2015-12-07 | 2016-04-13 | 浙江大学 | Unmanned aerial vehicle autonomous landing guidance system based on solar-blind region ultraviolet imaging |
| CN108646783A (en) * | 2018-06-13 | 2018-10-12 | 西安理工大学 | Pesticide spraying unmanned plane guiding system based on wireless ultraviolet light and bootstrap technique |
| CN109911237A (en) * | 2019-04-02 | 2019-06-21 | 赵嘉睿 | Based on ultraviolet light to the unmanned machine aided drop and guidance system and application of empty coded beacons |
| CN110203087A (en) * | 2019-05-17 | 2019-09-06 | 西安理工大学 | Charge level ground system and its charging method for the unmanned plane base station autonomous landing 5G |
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