CN113466907A - Electric unmanned aerial vehicle route planning system and method based on satellite-based augmentation system - Google Patents
Electric unmanned aerial vehicle route planning system and method based on satellite-based augmentation system Download PDFInfo
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- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The invention discloses an electric unmanned aerial vehicle route planning system based on a satellite-based augmentation system, which comprises a satellite-based positioning module, a satellite-based resolving module, an electric unmanned aerial vehicle and a route planning module; the satellite-based positioning module observes and receives satellite observation data of the multi-band satellite navigation system, specifically receives satellite-based correction data broadcasted by a multi-band satellite, observes and records original observation data of the multi-band GNSS; the satellite-based resolving module is used for resolving and converging positioning result data; and the route planning module finishes the setting of the route after obtaining the positioning result data of the control point. The invention also discloses a method for the electric unmanned aerial vehicle route planning system based on the satellite-based augmentation system. According to the invention, a high-precision positioning result is obtained by utilizing the satellite-based positioning module and the satellite-based resolving module, so that the air route planning can not be influenced by the environment and the network, and the method is suitable for practical application of various environments of the electric unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the field of route planning, and particularly relates to a power unmanned aerial vehicle route planning system and method based on a satellite-based augmentation system.
Background
In order to overhaul the power equipment more safely and efficiently, the use of the electric unmanned aerial vehicle in the power industry is mature day by day nowadays. At present, various types of unmanned aerial vehicles play more and more important roles in the fields of power inspection, data acquisition, maintenance and the like, especially improve the automation degree of the unmanned aerial vehicle, and can effectively improve the application range and efficiency of the power unmanned aerial vehicle.
The air route planning is used as an important link of automatic flight of the unmanned aerial vehicle, the unmanned aerial vehicle needs accurate position information for route planning, and the accuracy of the position plays a key role in obstacle avoidance of the unmanned aerial vehicle. However, in the existing electric unmanned aerial vehicle industry, most of route planning uses a single base station or a network RTK ground-based augmentation system for positioning and then is used for planning, and the methods have defects and limitations.
Due to the complex environment of the electric unmanned aerial vehicle, various electric devices are widely arranged in remote areas such as mountains, gobi, deserts, swamps and water areas, and the network environment cannot be guaranteed. Therefore, for the unmanned aerial vehicle route planning system, there are many objective condition limitations for obtaining accurate and stable positioning information, for example, the existing positioning method is difficult to position without a network, so that the route planning accuracy and efficiency of the existing electric unmanned aerial vehicle are low.
Disclosure of Invention
One of the purposes of the invention is to provide an electric unmanned aerial vehicle route planning system based on a satellite-based augmentation system, and the system enables route planning of the electric unmanned aerial vehicle to be more efficient through the satellite-based augmentation system; the invention also aims to provide a method which is realized by the electric unmanned aerial vehicle route planning system based on the satellite-based augmentation system.
The electric unmanned aerial vehicle route planning system based on the satellite-based augmentation system comprises a satellite-based positioning module, a satellite-based resolving module, an electric unmanned aerial vehicle and a route planning module; the electric unmanned aerial vehicle is respectively connected with the star base positioning module, the star base resolving module and the air route planning module; the satellite-based positioning module observes and receives satellite observation data of the multi-band satellite navigation system, specifically receives satellite-based correction data broadcasted by a multi-band satellite, observes and records original observation data of the multi-band GNSS; the satellite-based resolving module is used for resolving and converging positioning result data; and the route planning module finishes the setting of the route after obtaining the positioning result data of the control point.
The satellite-based positioning module is specifically used for receiving satellite-based correction data broadcast by a satellite navigation enhancement signal transponder carried by a geostationary orbit satellite.
The satellite-based correction data comprises a clock error correction number, an orbit correction number, an ionosphere correction number, a troposphere correction number, a phase deviation correction number and a code deviation correction number.
The satellite-based resolving module is specifically used for receiving the multiband GNSS original observation data and the satellite-based correction data received by the satellite-based positioning module, and resolving the data to eliminate time delay and errors.
The route planning module comprises a control point setting module, a control point positioning and converging module, a route automatic planning and calculating module, an autonomous obstacle avoidance module, a three-dimensional electronic map module, a route drawing module and a data transmission module; the data transmission module is used for transmitting data; the control point setting module is connected with the control point positioning and convergence module, the control point positioning and convergence module is connected with the automatic route planning and calculating module, the automatic route planning module is connected with the autonomous obstacle avoidance module, the autonomous obstacle avoidance module is connected with the route drawing module, and the route drawing module is connected with the three-dimensional electronic map module; the control point setting module is used for setting a preset point position of the route; the control point positioning and convergence module reads a positioning result calculated by the star-based calculation module; through accumulation of resolving results, positioning accuracy is improved, the position information with set accuracy is converged, and a control point is positioned; after the automatic air route planning and calculating module reads the control points and the corresponding position information, the flight route is automatically planned; after the autonomous obstacle avoidance module reads the geographic information, related obstacles are avoided and flight lines are corrected by combining with the automatically planned flight lines; the three-dimensional electronic map module is used for loading, displaying and superposing an electronic map; the route drawing module draws a planned route path on the basis of the three-dimensional electronic map module, so that the route planning module has complete use and display capacity.
The invention also discloses a method for the electric unmanned aerial vehicle route planning system based on the satellite-based augmentation system, which comprises the following steps:
s1, setting a flight plan, and selecting a flight area in a three-dimensional electronic map;
s2, selecting and marking the starting point and the stopping point of the electric unmanned aerial vehicle as control points;
s3, opening a satellite-based positioning module at the control point position, observing and receiving satellite observation data of the multi-band satellite navigation system, and receiving satellite-based correction data broadcasted by the multi-band satellite;
s4, transmitting the satellite observation data and the satellite-based correction data to a satellite-based calculation module, and calculating by adopting a calculation algorithm;
s5, continuously operating and converging a satellite-based resolving module to obtain a satellite positioning position result with set precision as position information of a control point;
s6, the route planning module acquires accurate position information of the control point and then combines a three-dimensional electronic map to execute route automatic planning and obstacle avoidance planning tasks;
and S7, outputting the final electric unmanned aerial vehicle route planning route by the route planning module.
The step S4 specifically includes solving a measurement equation of the algorithm:
ΔY＝Gi·ΔX+ε
wherein, Δ Y is an n-dimensional pseudo-range residual vector corrected by SBAS L1/L5, and n is the number of satellites participating in resolving; Δ X is the offset vector of the point to be measured and the clock difference at the linearization point, specifically Δ X ═ Δ X, Δ y, Δ z, c ═ Δ t]The delta x, the delta y and the delta z are respectively offset of the position of the electric unmanned aerial vehicle relative to the satellite position on a three-dimensional x axis, a y axis and a z axis, the delta t is clock offset of the unmanned aerial vehicle relative to system reference time, and the c is light speed; ε is the residual error of Δ y; giIs the observation matrix of the ith satellite.
The observation matrix G of the ith satelliteiThe method specifically comprises the following steps:
Gi＝[-cosEl[i]*sinAz[i]-cosEl[i]*cosAz[i]-sinEl[i]1]
wherein cosEl [ i ] represents the cosine value of the elevation angle of the ith satellite; sinAz [ i ] represents the azimuth sine value of the ith satellite; cosAz [ i ] represents the direction angle cosine value of the ith satellite; sinEl [ i ] represents the sine of the elevation of the ith satellite.
The weighted least squares estimation of the offset vector Δ x of the point position to be measured and the clock difference at the linearization point comprises:
ΔX＝S·ΔY
wherein, Δ Y is an n-dimensional pseudo-range residual vector corrected by SBAS L1/L5, and n is the number of satellites participating in resolving; Δ X is an offset vector of a position of a point to be measured and a clock difference at a linearization point, specifically, Δ X is [ Δ X, Δ y, Δ z, c × Δ t ], Δ X, Δ y, and Δ z are offsets of the position of the electric unmanned aerial vehicle relative to the satellite position on a three-dimensional X axis, y axis, and z axis, respectively, Δ t is a clock offset of the unmanned aerial vehicle relative to a system reference time, and c is a light speed;
wherein, wi＝1/σ2[i]，σ2[i]Representing the covariance of the i-th satellite pseudorange error.
Covariance of pseudorange error of ith satellite2[i]The method specifically comprises the following steps:
σ2[i]＝σ2DFC[i]+σ2UIVE[i]+σ2tropo[i]+σ2air[i]
wherein σ2DFC[i]Correcting the covariance of the residuals for the differences; sigma2UIVE[i]Is the covariance of the ionospheric residuals after applying the ionospheric-free dual-frequency L1/L5 combination; sigma2tropo[i]Correcting the covariance of the residual for tropospheric delay; sigma2air[i]Is the covariance of the airborne equipment error.
According to the electric unmanned aerial vehicle route planning system and method based on the satellite-based augmentation system, the collected satellite-based augmentation differential data and the satellite observation data are analyzed and solved by the satellite-based positioning module and the satellite-based solving module, and finally, a high-precision positioning result is obtained, so that route planning can not be influenced by environments and networks, and the electric unmanned aerial vehicle route planning system and method are suitable for practical application of various environments of the electric unmanned aerial vehicle.
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FIG. 1 is a schematic diagram of the system of the present invention.
FIG. 2 is a flowchart of an algorithm of an embodiment of the system of the present invention.
FIG. 3 is a schematic flow chart of the method of the present invention.
FIG. 4 is a flow chart illustrating a calculation algorithm of the method of the present invention.
Detailed Description
FIG. 1 is a schematic structural diagram of the system of the present invention: the electric unmanned aerial vehicle route planning system based on the satellite-based augmentation system comprises a satellite-based positioning module, a satellite-based resolving module, an electric unmanned aerial vehicle and a route planning module; the electric unmanned aerial vehicle is respectively connected with the star base positioning module, the star base resolving module and the air route planning module; the satellite-based positioning module observes and receives satellite observation data of the multi-band satellite navigation system; the satellite-based positioning module receives satellite-based correction data broadcasted by a multi-band satellite, observes and records original observation data of the multi-band GNSS in real time; the satellite-based resolving module is used for resolving and converging positioning result data, and is specifically used for receiving multi-band GNSS original observation data and satellite-based correction data so as to eliminate time delay and errors and obtain a high-precision positioning result; and the route planning module finishes the setting of the route after obtaining the positioning result data of the control point.
The satellite-based positioning module receives various satellite-based correction data such as ephemeris error, satellite clock error, ionospheric delay and the like from a satellite navigation enhanced signal transponder broadcast by a geostationary orbit (GEO) satellite, wherein the satellite-based correction data specifically comprises a clock error correction number, an orbit correction number, an ionospheric correction number, a tropospheric correction number, a phase deviation correction number and a code deviation correction number.
The route planning module comprises a control point setting module, a control point positioning and converging module, a route automatic planning and calculating module, an autonomous obstacle avoidance module, a three-dimensional electronic map module, a route drawing module and a data transmission module; the data transmission module is used for transmitting data; the control point setting module is connected with the control point positioning and convergence module, the control point positioning and convergence module is connected with the automatic route planning and calculating module, the automatic route planning module is connected with the autonomous obstacle avoidance module, the autonomous obstacle avoidance module is connected with the route drawing module, and the route drawing module is connected with the three-dimensional electronic map module; the control point setting module is used for setting a preset point position of the route; the control point positioning and convergence module reads a high-precision positioning result calculated by the satellite-based calculation module in real time through a communication channel; through accumulation of resolving results, positioning accuracy is improved, the position information with set accuracy is converged, and a control point is positioned; after the automatic air route planning and calculating module reads the control points and the corresponding position information, the flight route is automatically planned; after the autonomous obstacle avoidance module reads the geographic information, related obstacles are avoided and flight lines are corrected by combining with the automatically planned flight lines; the three-dimensional electronic map module is used for loading, displaying and superposing an electronic map; the route drawing module draws a planned route path on the basis of the three-dimensional electronic map module, so that the route planning module has complete use and display capacity. Fig. 2 is a flowchart of an algorithm of an embodiment of the system of the present invention.
FIG. 3 is a schematic flow chart of the method of the present invention. The invention also provides a method, which comprises the electric unmanned aerial vehicle route planning module based on the satellite-based augmentation system, and specifically comprises the following steps:
s1, setting a flight plan, and selecting a flight area in a three-dimensional electronic map;
s2, selecting and marking the starting point and the stopping point of the electric unmanned aerial vehicle as control points;
s3, opening a satellite-based positioning module at the control point position, observing and receiving satellite observation data of the multi-band satellite navigation system in real time, and receiving satellite-based correction data broadcasted by the multi-band satellite;
s4, transmitting satellite observation data and satellite-based carrier phase difference data (satellite-based correction data) to a satellite-based calculation module, and calculating by adopting a calculation algorithm;
s5, continuously operating and converging a satellite-based resolving module to obtain a centimeter-level high-precision satellite positioning position result as position information of a control point;
s6, the route planning module acquires accurate position information of the control point and then combines a three-dimensional electronic map to execute route automatic planning and obstacle avoidance planning tasks;
and S7, outputting the final electric unmanned aerial vehicle route planning route by the route planning module.
Fig. 4 is a flow chart of a resolving algorithm of the method of the present invention. The step S4 specifically includes solving a measurement equation of the algorithm:
ΔY＝Gi·ΔX+ε
wherein, Δ Y is an n-dimensional pseudo-range residual vector corrected by SBAS L1/L5, and n is the number of satellites participating in resolving; Δ X is the offset vector of the point to be measured and the clock difference at the linearization point, specifically Δ X ═ Δ X, Δ y, Δ z, c ═ Δ t]The delta x, the delta y and the delta z are respectively offset of the position of the electric unmanned aerial vehicle relative to the satellite position on a three-dimensional x axis, a y axis and a z axis, the delta t is clock offset of the unmanned aerial vehicle relative to system reference time, and the c is light speed; ε is the residual error of Δ y; giIs the observation matrix of the ith satellite.
Observation matrix G of the ith satelliteiThe method specifically comprises the following steps:
Gi＝[-cosEl[i]*sinAz[i]-cosEl[i]*cosAz[i]-sinEl[i]1]
wherein cosEl [ i ] represents the cosine value of the elevation angle of the ith satellite; sinAz [ i ] represents the azimuth sine value of the ith satellite; cosAz [ i ] represents the direction angle cosine value of the ith satellite; sinEl [ i ] represents the sine of the elevation angle of the ith satellite;
weighted least squares estimation (WLS) of offset vectors of the point position to be measured and the clock difference at the linearization point comprises:
ΔX＝S·ΔY
wherein, Δ Y is an n-dimensional pseudo-range residual vector corrected by SBAS L1/L5, and n is the number of satellites participating in resolving; Δ X is an offset vector of a position of a point to be measured and a clock difference at a linearization point, specifically, Δ X is [ Δ X, Δ y, Δ z, c × Δ t ], Δ X, Δ y, and Δ z are offsets of the position of the electric unmanned aerial vehicle relative to the satellite position on a three-dimensional X axis, y axis, and z axis, respectively, Δ t is a clock offset of the unmanned aerial vehicle relative to a system reference time, and c is a light speed; s is a projection matrix;
Gi Tobservation matrix G representing the ith satelliteiW is the weight matrix:
wherein, wi＝1/σ2[i]，σ2[i]Covariance, σ, representing the pseudorange error of the ith satellite2[i]The method specifically comprises the following steps:
σ2[i]＝σ2DFC[i]+σ2UIVE[i]+σ2tropo[i]+σ2air[i]
wherein σ2DFC[i]Correcting the covariance of the residuals for the differences; sigma2UIVE[i]Is the covariance of the ionospheric residuals after applying the ionospheric-free dual-frequency L1/L5 combination; sigma2tropo[i]Correcting the covariance of the residual for tropospheric delay; sigma2air[i]Covariance of airborne equipment errors; the covariance calculation method of each error term is referred to the RTCA-DO29E standard.
Claims (10)
1. An electric unmanned aerial vehicle route planning system based on a satellite-based augmentation system is characterized by comprising a satellite-based positioning module, a satellite-based resolving module, an electric unmanned aerial vehicle and a route planning module; the electric unmanned aerial vehicle is respectively connected with the star base positioning module, the star base resolving module and the air route planning module; the satellite-based positioning module observes and receives satellite observation data of the multi-band satellite navigation system, specifically receives satellite-based correction data broadcasted by a multi-band satellite, observes and records original observation data of the multi-band GNSS; the satellite-based resolving module is used for resolving and converging positioning result data; and the route planning module finishes the setting of the route after obtaining the positioning result data of the control point.
2. The system according to claim 1, wherein the satellite-based positioning module is configured to receive satellite-based correction data broadcast from a satellite navigation augmentation signal transponder carried by geostationary orbiting satellites.
3. The system according to claim 2, wherein the constellation correction data includes a number of correction of clock error, a number of correction of orbit, a number of correction of ionosphere, a number of correction of troposphere, a number of correction of phase offset and a number of correction of code offset.
4. The electric unmanned aerial vehicle route planning system based on the satellite-based augmentation system of claim 1, wherein the satellite-based solution module is specifically configured to receive multiband GNSS original observation data and satellite-based correction data received by the satellite-based positioning module, and to solve the data to eliminate time delay and errors.
5. The electric unmanned aerial vehicle route planning system based on the star-based augmentation system of claim 4, wherein the route planning module comprises a control point setting module, a control point positioning and convergence module, an automatic route planning and calculation module, an autonomous obstacle avoidance module, a three-dimensional electronic map module, a route drawing module and a data transmission module; the data transmission module is used for transmitting data; the control point setting module is connected with the control point positioning and convergence module, the control point positioning and convergence module is connected with the automatic route planning and calculating module, the automatic route planning module is connected with the autonomous obstacle avoidance module, the autonomous obstacle avoidance module is connected with the route drawing module, and the route drawing module is connected with the three-dimensional electronic map module; the control point setting module is used for setting a preset point position of the route; the control point positioning and convergence module reads a positioning result calculated by the star-based calculation module; through accumulation of resolving results, positioning accuracy is improved, the position information with set accuracy is converged, and a control point is positioned; after the automatic air route planning and calculating module reads the control points and the corresponding position information, the flight route is automatically planned; after the autonomous obstacle avoidance module reads the geographic information, related obstacles are avoided and flight lines are corrected by combining with the automatically planned flight lines; the three-dimensional electronic map module is used for loading, displaying and superposing an electronic map; the route drawing module draws a planned route path on the basis of the three-dimensional electronic map module, so that the route planning module has complete use and display capacity.
6. A method for the electric unmanned aerial vehicle route planning system based on the satellite-based augmentation system as claimed in any one of claims 1 to 5, characterized by comprising the following steps:
s1, setting a flight plan, and selecting a flight area in a three-dimensional electronic map;
s2, selecting and marking the starting point and the stopping point of the electric unmanned aerial vehicle as control points;
s3, opening a satellite-based positioning module at the control point position, observing and receiving satellite observation data of the multi-band satellite navigation system, and receiving satellite-based correction data broadcasted by the multi-band satellite;
s4, transmitting the satellite observation data and the satellite-based correction data to a satellite-based calculation module, and calculating by adopting a calculation algorithm;
s5, continuously operating and converging a satellite-based resolving module to obtain a satellite positioning position result with set precision as position information of a control point;
s6, the route planning module acquires accurate position information of the control point and then combines a three-dimensional electronic map to execute route automatic planning and obstacle avoidance planning tasks;
and S7, outputting the final electric unmanned aerial vehicle route planning route by the route planning module.
7. The method according to claim 6, wherein the step S4 specifically comprises solving a measurement equation of an algorithm:
ΔY＝Gi·ΔX+ε
wherein, Δ Y is an n-dimensional pseudo-range residual vector corrected by SBAS L1/L5, and n is the number of satellites participating in resolving; Δ X is the offset vector of the point to be measured and the clock difference at the linearization point, specifically Δ X ═ Δ X, Δ y, Δ z, c ═ Δ t]The delta x, the delta y and the delta z are respectively offset of the position of the electric unmanned aerial vehicle relative to the satellite position on a three-dimensional x axis, a y axis and a z axis, the delta t is clock offset of the unmanned aerial vehicle relative to system reference time, and the c is light speed; ε is the residual error of Δ y; giIs the observation matrix of the ith satellite.
8. The method of claim 7, wherein the observation matrix G for the ith satellite isiThe method specifically comprises the following steps:
Gi＝[-cosEl[i]*sinAz[i]-cosEl[i]*cosAz[i]-sinEl[i]1]
wherein cosEl [ i ] represents the cosine value of the elevation angle of the ith satellite; sinAz [ i ] represents the azimuth sine value of the ith satellite; cosAz [ i ] represents the direction angle cosine value of the ith satellite; sinEl [ i ] represents the sine of the elevation of the ith satellite.
9. The method according to claim 8, characterized in that the weighted least squares estimation of the offset vector Δ x of the point position to be measured and the clock difference at the linearization point comprises:
ΔX＝S·ΔY
wherein, Δ Y is an n-dimensional pseudo-range residual vector corrected by SBAS L1/L5, and n is the number of satellites participating in resolving; Δ X is an offset vector of a position of a point to be measured and a clock difference at a linearization point, specifically, Δ X is [ Δ X, Δ y, Δ z, c × Δ t ], Δ X, Δ y, and Δ z are offsets of the position of the electric unmanned aerial vehicle relative to the satellite position on a three-dimensional X axis, y axis, and z axis, respectively, Δ t is a clock offset of the unmanned aerial vehicle relative to a system reference time, and c is a light speed;
wherein, wi＝1/σ2[i]，σ2[i]Representing the covariance of the i-th satellite pseudorange error.
10. The method of claim 9, wherein the covariance σ of the pseudorange errors of the ith satellite2[i]The method specifically comprises the following steps:
σ2[i]＝σ2DFC[i]+σ2UIVE[i]+σ2tropo[i]+σ2air[i]
wherein σ2DFC[i]Correcting the covariance of the residuals for the differences; sigma2UIVE[i]Is the covariance of the ionospheric residuals after applying the ionospheric-free dual-frequency L1/L5 combination; sigma2tropo[i]Correcting the covariance of the residual for tropospheric delay; sigma2air[i]Is the covariance of the airborne equipment error.
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