CN113055073B - System and method for data acquisition and positioning accuracy measurement - Google Patents
System and method for data acquisition and positioning accuracy measurement Download PDFInfo
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- CN113055073B CN113055073B CN201911376224.1A CN201911376224A CN113055073B CN 113055073 B CN113055073 B CN 113055073B CN 201911376224 A CN201911376224 A CN 201911376224A CN 113055073 B CN113055073 B CN 113055073B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1853—Satellite systems for providing telephony service to a mobile station, i.e. mobile satellite service
- H04B7/18545—Arrangements for managing station mobility, i.e. for station registration or localisation
- H04B7/18547—Arrangements for managing station mobility, i.e. for station registration or localisation for geolocalisation of a station
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Astronomy & Astrophysics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention relates to a data acquisition and positioning precision measurement system and a method. The device comprises a support frame, a sliding rail arranged on the support frame, a movable sliding block, a sliding block driving motor, a motor controller, a data acquisition controller, an upper computer and a transmission mechanism; the movable slide block is in sliding fit with the slide rail and is used for bearing a tested airborne base station; the sliding block driving motor is connected with the movable sliding block through a transmission mechanism; the data acquisition controller is arranged on the movable slide block and is communicated with the upper computer through a wireless data transmission module or a serial port mode; the motor controller is connected with the slide block driving motor and is communicated with the upper computer through a wireless data transmission module or a serial port mode. The invention realizes high-precision measurement of the unmanned aerial vehicle space positioning system, meets the static and dynamic positioning precision requirements required by unmanned aerial vehicle flight control, and can provide accurate measurement scale for selecting a mature positioning system or researching and developing the positioning system.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle space positioning accuracy measurement, and particularly relates to a data acquisition and positioning accuracy measurement system and method.
Background
Unmanned aerial vehicles can be divided into fixed wings and rotary wings. The unmanned aerial vehicle flight can be divided into three stages; autonomous take-off, autonomous cruising, autonomous landing. However, the unmanned aerial vehicle needs to be accurately positioned and guided in space in the autonomous take-off and landing stage, and particularly has very high requirements on space positioning accuracy in the environment with limited autonomous take-off and landing space.
The precision measurement of the space positioning system is a very important link in the design of the unmanned aerial vehicle flight control system. Whether self-developed or employing sophisticated spatial positioning systems, there is a great need for dynamic and static accuracy measurements of such systems.
The conventional GPS positioning systems have technical manuals, and can directly refer to the precision requirements of the technical manuals under the condition of low precision requirements. However, not only is static positioning accuracy measured, but also dynamic positioning accuracy is measured under the requirements of autonomous lifting and relative accurate positioning in narrow spaces. However, the system for positioning accuracy of some differential GPS and the like in centimeter level is only measurement in some simulation environments at present, but the laboratory measurement means in the simulation environments cannot meet the actual outfield experimental environment. The airborne mobile positioning end precision is measured by utilizing the distance relation between two points in space, so that the method is simple in implementation scheme, free of space limitation, capable of measuring the positioning system precision with high precision, more truly close to the actual flight test environment, and capable of providing a reliable measuring means for the selection or research and development of the unmanned plane positioning system.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a data acquisition and positioning precision measurement system and method, so as to realize high-precision measurement of an unmanned aerial vehicle space positioning system, meet the static and dynamic positioning precision requirements required by unmanned aerial vehicle flight control, and provide accurate measurement dimensions for selecting a mature positioning system or researching and developing the positioning system.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the data acquisition and positioning precision measurement system comprises a support frame, a slideway arranged on the support frame, a movable slide block, a slide block driving motor, a motor controller, a data acquisition controller, an upper computer and a transmission mechanism;
the movable slide block is in sliding fit with the slideway, and is used for bearing a tested airborne base station;
the sliding block driving motor is connected with the movable sliding block through a transmission mechanism;
the data acquisition controller is arranged on the movable slide block and is communicated with the upper computer through a wireless data transmission module or a serial port mode;
the motor controller is connected with the slide block driving motor and is communicated with the upper computer through a wireless data transmission module or a serial port mode.
The driving mechanism is a belt driving mechanism and comprises a belt, a driving belt pulley and a driven belt pulley, wherein the driving belt pulley is arranged on an output shaft of the slider driving motor, the driven belt pulley is rotatably arranged on the supporting frame and is connected with the driving belt pulley through the belt, and the belt is connected with the movable slider.
The belt is arranged in parallel with the slideway.
And the slide way is provided with scale marks for measuring the space linear displacement of the movable slide block.
The data acquisition controller is connected with the motor controller through a serial port; the data acquisition controller comprises a data acquisition control circuit board.
The support frame is a cube structure welded by corner aluminum.
A data acquisition and positioning accuracy measurement method comprises the following steps:
placing the ground base station to be tested at any position C away from the airborne base station; the method comprises the steps that an airborne base station is fixed on a movable sliding block of a sliding track and is connected with a data acquisition device through a serial port;
the upper computer outputs an instruction to the motor controller, the motor controller controls the slide block driving motor to enable the movable slide block to move on the sliding track, the upper computer outputs the instruction to the data acquisition unit, and the data acquisition unit acquires the position coordinates of the airborne base station relative to the ground base station in real time and sends the position coordinates to the upper computer;
the upper computer positions the position of the airborne base station on the movable slide block relative to the ground base station in real time, and calculates whether the movement of the airborne base station on the movable slide block on the slide rail is in place.
The moving of the moving slide block on the sliding track comprises the following steps: fixed point movement and reciprocating movement between two points;
when the fixed point moves, calculating whether the mobile slider moves to a designated position A or a designated position B on the sliding rail or not in real time along with the airborne base station;
when the movable slider (3) reciprocates between the two points of the position A or the position B on the sliding track, the upper computer records the reciprocating movement track of the movable slider (3) on the sliding track carrying the airborne base station.
The upper computer positions the position of the airborne base station on the movable slide block (3) relative to the ground base station in real time, and calculates whether the movement of the airborne base station on the movable slide block (3) on the slide rail is in place or not according to the following formula:
Δ＝100-d (2)
|Δ|≤g (3)
wherein, (X a ,Y a ,Z a )、(X b ,Y b ,Z b ) The position coordinates of the two points A, B on the sliding track are respectively calculated, d is the distance between the two points AB of the space calculated by the position coordinates of the two points A and B, delta is the positioning error, delta is the error precision, g is the error precision threshold, and the measurement precision is set according to the requirement.
And the ground base station and the airborne base station are respectively provided with a positioning module.
The invention has the advantages and beneficial effects that:
1. the invention realizes high-precision measurement of the unmanned aerial vehicle space positioning system, meets the static and dynamic positioning precision requirements required by unmanned aerial vehicle flight control, and can provide accurate measurement scale for selecting a mature positioning system or researching and developing the positioning system.
2. The data acquisition controller not only can store the data in the SD card in real time, but also can send the data to the real-time positioning accuracy analysis upper computer software for data redundancy backup, and the data stored in the SD card is used for offline positioning accuracy analysis.
3. The invention has small volume, can realize the positioning accuracy measurement of any outdoor space, is not limited by space, and is simple to operate and practical.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of static positioning accuracy measurement according to the present invention;
FIG. 3 is a schematic diagram of the dynamic positioning accuracy measurement of the present invention.
Wherein: 1 is a supporting frame, 2 is a slideway, 3 is a movable slide block, 4 is a slide block driving motor, 5 is a motor controller, 6 is a data acquisition controller, 7 is an upper computer, 8 is a wireless data transmission module, and 9 is a belt transmission device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the system and the method for measuring data acquisition and positioning accuracy provided by the invention comprise a support frame 1, a slideway 2 arranged on the support frame 1, a movable slide block 3, a slide block driving motor 4, a motor controller 5, a data acquisition controller 6, an upper computer 7 and a transmission mechanism; the movable slide block 3 is in sliding fit with the slide way 2, and the movable slide block 3 is used for bearing a tested airborne base station; the slide block driving motor 4 is connected with the movable slide block 3 through a transmission mechanism; the data acquisition controller 6 is arranged on the movable slider 3 and is communicated with the upper computer 7 through a wireless data transmission module 8 or a serial port mode; the motor controller 5 is connected with the slide block driving motor 4 and is communicated with the upper computer 7 through a wireless data transmission module 8 or a serial port mode. Positioning modules, such as GPS positioning modules, are arranged in the ground base station and the airborne base station.
In the embodiment of the invention, the support frame 1 is a cube structure welded by corner aluminum. The transmission mechanism is a belt transmission mechanism and comprises a belt 9, a driving belt pulley and a driven belt pulley, wherein the driving belt pulley is arranged on an output shaft of the slider driving motor 4, the driven belt pulley is rotatably arranged on the support frame 1 and is connected with the driving belt pulley through the belt 9, and the belt 9 is connected with the movable slider 3. The belt 9 is arranged in parallel with the slideway 2, and the slide block driving motor 4 drives the belt 9 to rotate, so that the movable slide block 3 is driven to move along the slideway 2.
In the embodiment of the invention, the length of the slideway 2 is 1m, and graduation marks for measuring the space linear displacement of the movable sliding block 3 are arranged on the slideway 2.
The data acquisition controller 6 is connected with the motor controller 5 through a serial port, and the data acquisition controller 6 comprises a data acquisition control circuit board and is used for high-frequency acquisition and positioning or distance measurement data acquisition and storage, so that acquired data can be stored in an SD card, and the acquired data can be sent to the upper computer 7 through the serial port for storage and analysis, and redundant backup data is realized. Meanwhile, the data acquisition controller 6 communicates with the motor controller 5 through a serial port, communicates with the upper computer 7 through a wireless data transmission module 8 or a serial port mode, forwards a motor control command of the upper computer 7 to the motor controller 5, and forwards information such as position, speed and the like acquired by the motor controller 5 to the upper computer 7 for monitoring and displaying. The upper computer 7 is connected and communicated with the data acquisition controller 6 through a wireless data transmission module 8 or a serial port wired connection mode, and is mainly used for processing positioning accuracy analysis and displaying a state quantity and a positioning accuracy curve of a measurement system in real time, and meanwhile, the upper computer also has the functions of operating and controlling the moving speed and the position of the moving slide block 3. The upper computer is a computer or a PC, the motor controller 5 adopts an STM32-ARM processor, the slide block driving motor 4 and the data acquisition device 6 adopts an STM32-ARM processor, and the model number of the wireless data transmission module 8 is MM2-T.
Further, the movable slider 3 is used for installing a measured point antenna or related equipment, namely a measured on-board base station, so that the measured point can be accurately moved by a specified distance, and the accuracy of the moving distance is 1cm. The rotating speed of the slide block driving motor 4 can be precisely controlled by the motor controller 5, and precise movement of the movable slide block 3 on the slideway 2 can be realized by controlling the rotating speed.
Further, the host computer 7 has functions of data analysis and display, motor control and display, data storage and display, and the like. The upper computer 7 is in communication with the data acquisition controller 6 in a wired and wireless mode through serial port communication, so that data storage and display, motor control and display, positioning data analysis and real-time data curve display are realized, and the positioning accuracy measurement result can be intuitively obtained.
Further, in the data acquisition and positioning accuracy measurement system, the length, width and height of the support frame 1d are 1m, 0.8m and 0.5m respectively, and the structure is light in weight, convenient to carry and free from space limitation.
The data acquisition and positioning accuracy measurement system of the invention realizes the static and dynamic positioning accuracy measurement of the positioning system by utilizing the principle of spatial two-point distance measurement. The whole measuring system only needs 12V lithium battery power supply. The method can be connected with a notebook computer, can check the positioning accuracy measurement result in real time, and can also perform offline positioning accuracy analysis by data stored in an SD card.
As shown in fig. 2, during static positioning accuracy measurement, the on-board base station is fixed on the movable slide block 3, placed at a position a of the scale of the metric ruler 0, and connected with the data acquisition board through a serial port. The ground base station to be measured is placed at an arbitrary position C from the on-board base station Dm (d=100m, 50m,30 m) (by displaying data). The system was powered on, starting to collect three-coordinate (Xa, ya, za) data from the "on-board base station" relative to the "ground base station" and timing the collection for 15 minutes. After the data of the position A is collected for 15 minutes, the system is not powered off, and the movable slide block 3 is accurately moved to the position B of 100 cm. After 15 minutes of timing, the system is powered off, the acquired data is copied, and the two-point distance d of the acquired data is calculated through a space two-point distance formula. And the static positioning accuracy is analyzed by calculating the positioning error by using the formulas (1), (2) and (3).
Δ＝100-d (2)
|Δ|≤g (3)
Wherein, (X a ,Y a ,Z a )、(X b ,Y b ,Z b ) Respectively, sliding railsThe distance between any two points on the track, delta is a positioning error, delta is error precision, and g is an error precision threshold.
As shown in fig. 3, the dynamic test scheme is to slide the "on-board base station" back and forth (motor control) between the "position a" and the "position B" on the slideway 2 based on the above static test, analyze whether the three-dimensional track is a straight track with a length of 1 meter, and calculate the boundary of the sliding track.
The invention realizes dynamic and static precision measurement of various space positioning systems, provides reliable positioning precision measurement means for selection and research and development of various unmanned aerial vehicle positioning systems, and has measurement positioning precision of <1cm.
The invention realizes high-precision measurement of the unmanned aerial vehicle space positioning system, meets the static and dynamic positioning precision requirements required by unmanned aerial vehicle flight control, and can provide accurate measurement scale for selecting a mature positioning system or researching and developing the positioning system. The data acquisition controller not only can store data in the SD card in real time for offline positioning accuracy analysis, but also can send the data to the real-time positioning accuracy analysis upper computer software for data analysis.
The foregoing is merely an embodiment of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (6)
1. The data acquisition and positioning precision measurement method is characterized by being realized based on a data acquisition and positioning precision measurement system;
the data acquisition and positioning accuracy measurement system comprises: the device comprises a support frame (1), a slideway (2) arranged on the support frame (1), a movable slide block (3), a slide block driving motor (4), a motor controller (5), a data acquisition controller (6), an upper computer (7) and a transmission mechanism;
the movable slide block (3) is in sliding fit with the slideway (2), and the movable slide block (3) is used for bearing a tested airborne base station;
the sliding block driving motor (4) is connected with the movable sliding block (3) through a transmission mechanism;
the driving mechanism is a belt driving mechanism and comprises a belt (9), a driving belt pulley and a driven belt pulley, the driving belt pulley is arranged on an output shaft of the slide block driving motor (4), the driven belt pulley is rotatably arranged on the supporting frame (1) and is connected with the driving belt pulley through the belt (9), and the belt (9) is connected with the movable slide block (3);
the data acquisition controller (6) is arranged on the movable sliding block (3) and is communicated with the upper computer (7) through a wireless data transmission module (8) or a serial port mode;
the motor controller (5) is connected with the slide block driving motor (4) and is communicated with the upper computer (7) through a wireless data transmission module (8) or a serial port mode;
the data acquisition and positioning precision measurement method comprises the following steps:
placing the ground base station to be tested at any position C away from the airborne base station; the method comprises the steps that an airborne base station is fixed on a movable sliding block of a sliding track and is connected with a data acquisition controller through a serial port;
the upper computer (7) outputs an instruction to the motor controller (5), the motor controller (5) controls the slide block driving motor (4) to enable the movable slide block (3) to move on the sliding track, the upper computer outputs the instruction to the data acquisition controller (6), and the data acquisition controller (6) acquires the position coordinates of the airborne base station relative to the ground base station in real time and sends the position coordinates to the upper computer; the moving slide block (3) moves on a sliding track and comprises: fixed point movement and reciprocating movement between two points; when the fixed point moves, whether the movable sliding block (3) moves to a designated position A or a designated position B on the sliding rail or not is calculated in real time; when the movable sliding block (3) reciprocates between the two points of the position A or the position B on the sliding track, the upper computer records the reciprocating movement track of the movable sliding block (3) on the sliding track carrying the airborne base station;
the upper computer locates the position of the airborne base station on the movable slide block (3) relative to the ground base station in real time, and calculates whether the movement of the airborne base station on the movable slide block (3) on the slide rail is in place according to the following formula:
Δ＝100-d (2)
Δ≤g(3)
wherein, (X a ,Y a ,Z a )、(X b ,Y b ,Z b ) The position coordinates of the two points A, B on the sliding track are respectively calculated, d is the distance between the two points AB of the space calculated by the position coordinates of the two points A and B, delta is the positioning error, delta is the error precision, g is the error precision threshold, and the measurement precision is set according to the requirement.
2. The method for data acquisition and positioning accuracy measurement according to claim 1, wherein positioning modules are arranged in the ground base station and the airborne base station.
3. A method for data acquisition and positioning accuracy measurement according to claim 1, characterized in that the belt (9) is arranged parallel to the slideway (2).
4. The method for measuring data acquisition and positioning accuracy according to claim 1, wherein graduation marks for measuring the spatial linear displacement of the movable slider (3) are arranged on the slideway (2).
5. The method for data acquisition and positioning accuracy measurement according to claim 1, wherein the data acquisition controller (6) is connected with the motor controller (5) through a serial port; the data acquisition controller (6) comprises a data acquisition control circuit board.
6. The method for data acquisition and positioning accuracy measurement according to claim 1, wherein the support frame (1) is a cube structure welded by corner aluminum.
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