CN112304315B - Positioning method for aerial striking unmanned aerial vehicle - Google Patents
Positioning method for aerial striking unmanned aerial vehicle Download PDFInfo
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- CN112304315B CN112304315B CN202011127423.1A CN202011127423A CN112304315B CN 112304315 B CN112304315 B CN 112304315B CN 202011127423 A CN202011127423 A CN 202011127423A CN 112304315 B CN112304315 B CN 112304315B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
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Abstract
The invention discloses a positioning method for an aerial striking unmanned aerial vehicle, which comprises a spherical camera module and a hemispherical compass module, and is implemented according to the following steps: step 1, determining the azimuth of the unmanned aerial vehicle; step 2, determining the distance of the unmanned aerial vehicle; and 3, implementing countermeasures. The invention has the advantages of simple and flexible structure, convenient manufacture, easy installation and disassembly by only one person when in use, saving manpower and material resources, simultaneously integrating two modules, realizing the coordination of the two modules, along with low manufacturing cost, small volume, easy installation, high precision and the like. The method can accurately judge the position of the unmanned aerial vehicle on the ground in real time, so that a ground target can timely judge the position of the unmanned aerial vehicle, and the countermeasures of the unmanned aerial vehicle are implemented in advance, thereby ensuring the safety of ground facilities.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle positioning, and relates to a positioning method for an aerial striking unmanned aerial vehicle.
Background
With the development of science and technology and the need of informatization warfare, the technology of a warfare unmanned plane (hereinafter referred to as unmanned plane) is also increasingly widely applied to modern warfare. Forcing the countries to develop methods relating to the reverse positioning of unmanned aerial vehicles urgently.
When the striking unmanned aerial vehicle strikes the ground target, the ground target is firstly required to be positioned, and the striking operation can be carried out on the ground target after the position of the ground target is determined. The existing commonly used unmanned aerial vehicle anti-positioning method comprises a radar, an antenna array and the like, wherein the radar has the characteristics of high manufacturing cost, large volume, difficult installation and carrying and the like, and has higher requirements on operators. The antenna array equipment receives the reflection signals of the unmanned aerial vehicle by means of the antennas with different directions to realize the positioning of the unmanned aerial vehicle, but the receiving areas of the antennas with different directions in the space range have overlapped ranges, so that the space range cannot be covered without overlapping and gaps, larger resource waste exists, and larger error exists in the positioning of the unmanned aerial vehicle.
Disclosure of Invention
The invention aims to provide a positioning method for an aerial striking unmanned aerial vehicle, which has the characteristics of accurately positioning the unmanned aerial vehicle in real time, so that a ground target can timely implement countermeasures of the unmanned aerial vehicle in advance according to the position of the unmanned aerial vehicle.
The technical scheme adopted by the invention is that the positioning method for the aerial striking unmanned aerial vehicle comprises a spherical camera module and a hemispherical compass module, and is implemented according to the following steps:
Step 1, determining the azimuth of the unmanned aerial vehicle;
Step 2, determining the distance of the unmanned aerial vehicle;
and 3, implementing countermeasures.
The spherical camera module is installed in the sphere center position of the hemispherical compass module, and the spherical camera module and the hemispherical compass module are respectively connected to the control terminal.
The step 1 specifically comprises the following steps:
When unmanned aerial vehicle uses laser to fix a position ground target, can make spherical camera module produce the projection at hemisphere face compass module, according to the scale on the hemisphere face compass module inner wall, can read out unmanned aerial vehicle's in the space elevation angle by horizontal scale, can read out unmanned aerial vehicle's in the space azimuth by vertical scale, and then can obtain aerial unmanned aerial vehicle's spatial position.
In the step 1, the horizontal plane where the horizontal plane direction scales of the hemispherical compass module are positioned is vertical to the vertical radius shaft, and the horizontal plane direction scales of different heights correspond to different numerical values; the vertical surface where the vertical direction scale is located comprises a vertical radius, and the vertical radius is rotated for one circle, so that 360-degree space is equally divided.
The step 2 is specifically as follows:
The circle A is the projection of the spherical camera module on the hemispherical compass module, and the diameter is d A; the circle B is a circle shown by the spherical camera module, and the diameter of the circle B is d B; point C is the drone position; r is the radius of the hemispherical compass module;
Let A, C be the distance L, and d A、dB and R be known amounts, from geometrical knowledge And (3) withProportional relationship, i.e
The method can obtain:
the distance L between the device and the unmanned aerial vehicle can thus be derived.
In the step 3, the specific azimuth and distance of the aerial unmanned aerial vehicle are determined by the step 1 and the step 2, the obtained data are transmitted to the control terminal in real time, and countermeasures are immediately implemented on the unmanned aerial vehicle, so that the ground facilities can be prevented from being hit.
The beneficial effects of the invention are as follows:
The invention has the advantages of simple and flexible structure, convenient manufacture, easy installation and disassembly by only one person when in use, saving manpower and material resources, simultaneously integrating two modules, realizing the coordination of the two modules, along with low manufacturing cost, small volume, easy installation, high precision and the like. The method can accurately judge the position of the unmanned aerial vehicle on the ground in real time, so that a ground target can timely judge the position of the unmanned aerial vehicle, and the countermeasures of the unmanned aerial vehicle are implemented in advance, thereby ensuring the safety of ground facilities.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a spherical camera module and a hemispherical compass module in a positioning method for an aerial striking unmanned aerial vehicle according to the present invention;
FIG. 2 is a diagram of a model of a hemispherical compass module in a positioning method for an aerial striking unmanned aerial vehicle according to the present invention;
FIG. 3 is a schematic diagram of the scale of the inner wall of the hemispherical compass module in the positioning method for the aerial striking unmanned aerial vehicle;
fig. 4 is a schematic diagram of distance calculation in the positioning method for the aerial striking unmanned aerial vehicle according to the invention. In the figure, 1, a spherical camera module and 2, a hemispherical compass module.
Detailed Description
The invention will be described in detail below with reference to the drawings and the detailed description.
As shown in fig. 1, a positioning method for an aerial striking unmanned aerial vehicle comprises a spherical camera module 1 and a hemispherical compass module 2, and is implemented specifically according to the following steps:
Step 1, determining the azimuth of the unmanned aerial vehicle;
Step 2, determining the distance of the unmanned aerial vehicle;
and 3, implementing countermeasures.
The spherical camera module 1 is arranged at the spherical center of the hemispherical compass module 2 and is fixed by circular transparent glass with the radius of R, and the spherical camera module 1 and the hemispherical compass module 2 are respectively connected to a control terminal. The spherical camera can rotate at a certain speed at the spherical center position and can shoot all scale areas on the inner wall of the hemispherical compass module; the hemispherical compass module 2 is horizontally arranged and mainly used for determining the projection position 1 of the spherical camera module. The appearance of the device is similar to a hemispherical shape, and the inner wall is carved with different scales in the horizontal direction and the vertical direction.
The step 1 specifically comprises the following steps:
If the figure is when unmanned aerial vehicle uses laser to fix a position ground target, can make spherical camera module 1 produce the projection at hemisphere face compass module 2, according to the scale on the hemisphere face compass module 2 inner wall, can read out unmanned aerial vehicle's in the space elevation angle by horizontal scale, can read out unmanned aerial vehicle's in the space azimuth by vertical scale, and then can obtain aerial unmanned aerial vehicle's spatial position.
As shown in fig. 2-3, in step 1, the horizontal plane where the horizontal plane direction scales of the hemispherical compass module 2 are located is perpendicular to the vertical radius axis, and the horizontal plane direction scales of different heights correspond to different values; the vertical surface where the vertical direction scale is located comprises a vertical radius, and the vertical radius is rotated for one circle, so that 360-degree space is equally divided.
The step 2 is specifically as follows:
As shown in fig. 4, circle a is the projection of the spherical camera module 1 on the hemispherical compass module 2, and has a diameter d A; the circle B is a circle shown by the spherical camera module 1, and the diameter of the circle B is d B; point C is the drone position; r is the radius of the hemispherical compass module 2;
Let A, C be the distance L, and d A、dB and R be known amounts, from geometrical knowledge And (3) withProportional relationship, i.e
The method can obtain:
the distance L between the device and the unmanned aerial vehicle can thus be derived.
In the step 3, the specific azimuth and distance of the aerial unmanned aerial vehicle are determined by the step 1 and the step 2, the obtained data are transmitted to the control terminal in real time, and countermeasures are immediately implemented on the unmanned aerial vehicle, so that the ground facilities can be prevented from being hit.
The invention has the advantages of simple and flexible structure, convenient manufacture, easy installation and disassembly by only one person when in use, saving manpower and material resources, simultaneously integrating two modules, realizing the coordination of the two modules, along with low manufacturing cost, small volume, easy installation, high precision and the like. The method can accurately judge the position of the unmanned aerial vehicle on the ground in real time, so that a ground target can timely judge the position of the unmanned aerial vehicle, and the countermeasures of the unmanned aerial vehicle are implemented in advance, thereby ensuring the safety of ground facilities.
Claims (2)
1. The positioning method for the aerial striking unmanned aerial vehicle is characterized by comprising a spherical camera module (1) and a hemispherical compass module (2), wherein the spherical camera module (1) is arranged at the spherical center position of the hemispherical compass module (2), and the spherical camera module (1) and the hemispherical compass module (2) are respectively connected to a control terminal and are implemented according to the following steps:
Step 1, determining the azimuth of the unmanned aerial vehicle;
the step 1 specifically comprises the following steps:
when the unmanned aerial vehicle uses laser to position a ground target, the spherical camera module (1) generates projection on the hemispherical compass module (2), the elevation angle of the unmanned aerial vehicle in the space can be read out by the horizontal scale according to the scale on the inner wall of the hemispherical compass module (2), the azimuth angle of the unmanned aerial vehicle in the space can be read out by the vertical scale, and then the space position of the unmanned aerial vehicle in the air can be obtained;
In the step 1, the horizontal plane where the horizontal plane direction scales of the hemispherical compass module (2) are positioned is vertical to the vertical radius shaft, and the horizontal plane direction scales of different heights correspond to different values; the vertical surface where the scale in the vertical direction is located comprises a vertical radius, and the scale rotates around the vertical radius for one circle, so that 360-degree space is equally divided;
Step 2, determining the distance of the unmanned aerial vehicle;
the step 2 specifically comprises the following steps:
The circle A is the projection of the spherical camera module (1) on the hemispherical compass module (2), and the diameter is d A; the circle B is a circle shown by the spherical camera module (1) and has the diameter d B; point C is the drone position; r is the radius of the hemispherical compass module (2);
Let A, C be the distance L, and d A、dB and R be known amounts, from geometrical knowledge And (3) withProportional relationship, i.e
The method can obtain:
The distance L between the device and the unmanned aerial vehicle can be derived from this;
and 3, implementing countermeasures.
2. The positioning method for the aerial striking unmanned aerial vehicle according to claim 1, wherein in the step 3, the specific azimuth and distance of the aerial unmanned aerial vehicle are determined by the step 1 and the step 2, the obtained data are transmitted to the control terminal in real time, and countermeasures are immediately implemented on the unmanned aerial vehicle, so that the ground facilities can be prevented from being struck.
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