CN113740894A - Wireless networking positioning equipment suitable for small unmanned aerial vehicle - Google Patents
Wireless networking positioning equipment suitable for small unmanned aerial vehicle Download PDFInfo
- Publication number
- CN113740894A CN113740894A CN202111009273.9A CN202111009273A CN113740894A CN 113740894 A CN113740894 A CN 113740894A CN 202111009273 A CN202111009273 A CN 202111009273A CN 113740894 A CN113740894 A CN 113740894A
- Authority
- CN
- China
- Prior art keywords
- positioning
- unmanned aerial
- aerial vehicle
- module
- gnss
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000006855 networking Effects 0.000 title claims abstract description 14
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 230000004927 fusion Effects 0.000 claims description 27
- 238000004891 communication Methods 0.000 claims description 25
- 230000000007 visual effect Effects 0.000 claims description 11
- 238000007726 management method Methods 0.000 claims description 9
- 238000005516 engineering process Methods 0.000 claims description 7
- 238000013507 mapping Methods 0.000 claims description 4
- 238000003702 image correction Methods 0.000 claims description 3
- 230000008520 organization Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000010354 integration Effects 0.000 description 4
- 230000002093 peripheral effect Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 241000854291 Dianthus carthusianorum Species 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- LIWAQLJGPBVORC-UHFFFAOYSA-N ethylmethylamine Chemical compound CCNC LIWAQLJGPBVORC-UHFFFAOYSA-N 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Images
Classifications
-
- 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
- G01S19/38—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
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses wireless networking positioning equipment suitable for a small unmanned aerial vehicle, and belongs to the technical field of navigation positioning. The device comprises a WIFI unit 1, a WIFI unit 2, a GNSS high-precision positioning unit, an ARM main control unit, an ultra-wideband positioning unit, a barometer 10 and the like. The unmanned aerial vehicle has the common flight control and image transmission standard interfaces of the unmanned aerial vehicle, can be adapted to most unmanned aerial vehicles, and has good universality.
Description
Technical Field
The invention relates to the technical field of navigation and positioning, in particular to a small unmanned wireless networking positioning device.
Background
By means of a GNSS (global navigation satellite system), the outdoor navigation and positioning technology of the small unmanned aerial vehicle is mature. In order to solve the indoor navigation and positioning of the unmanned aerial vehicle, a great deal of research is carried out at home and abroad, and indoor navigation and positioning technologies including inertia, optical flow, vision, UWB and the like are provided. At present, most of navigation positioning equipment of unmanned aerial vehicle platforms only have an outdoor navigation positioning function, the indoor navigation positioning function is single, and the flexibility and the expansibility are poor.
Disclosure of Invention
In view of the above, the present invention provides a wireless networking indoor and outdoor navigation positioning apparatus suitable for a small unmanned aerial vehicle platform to avoid the above drawbacks in the background art. The invention has the advantages of universality, high flexibility, high integration level and the like.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a wireless networking positioning device suitable for a small unmanned aerial vehicle comprises an ARM main control unit and a WIFI unit; the device also comprises a GNSS receiving unit, an ultra-wideband positioning unit, a camera interface and a barometer; 2 WIFI units are arranged;
the 2 WIFI units are used for networking and communication; the wireless self-organizing network supports a plurality of unmanned aerial vehicle rapid components based on an ADOV protocol, and is used for realizing communication between the unmanned aerial vehicles and the ground control terminals; the camera interface is used for connecting a binocular camera of the unmanned aerial vehicle;
the ARM main control unit is used for analyzing, processing and fusing data of each sensor to realize indoor and outdoor navigation positioning and networking communication of the unmanned aerial vehicle; the system comprises a visual positioning module, a fusion positioning module and a wireless ad hoc network communication module; the visual positioning module is used for receiving the image data and reconstructing three-dimensional information of the space scenery; the fusion positioning module comprehensively analyzes and fuses data reported by the ultra-wideband positioning unit, the GNSS receiving unit and the barometer, so that indoor and outdoor navigation positioning of the unmanned aerial vehicle is realized; the wireless ad hoc network communication module realizes automatic network organization and operation of the multiple unmanned aerial vehicles through WIFI signals;
the GNSS receiving unit is used for receiving GNSS satellite navigation signals and realizing outdoor centimeter-level high-precision positioning by using an RTK technology;
the ultra-wideband positioning unit calculates the distance or the distance difference between the transmitting end and the receiving end based on the signal arrival time delay or the time delay difference by using nanosecond or even picosecond-level extremely narrow pulses, so that indoor high-precision positioning is realized;
the wireless ad hoc network communication module adopts a hierarchical network structure to divide all unmanned aerial vehicles into a plurality of groups, each group consists of a group head and group members, and the group head is responsible for intra-group management and inter-group communication; the first WIFI module works in an ADHOC mode, and the second WIFI module works in an AP mode; the second WIFI module working in the AP mode is responsible for realizing intra-group communication and realizes data exchange with the second WIFI module working in the Manage mode of group members; the first WIFI module working in the ADHOC mode is responsible for inter-group communication and exchanges data with other group heads working in the ADHOC mode;
the fusion positioning module monitors the quality of the satellite signals received by the GNSS receiving unit in real time and judges the availability of the GNSS signals; when the GNSS signal of the unmanned aerial vehicle is unavailable, the fusion positioning module inquires whether the GNSS positioning of other unmanned aerial vehicles in the network is normal or not through the wireless self-organizing network; if the unmanned aerial vehicle A with normal GNSS positioning exists in the network, an ultra-wideband positioning module of the unmanned aerial vehicle measures the relative position of the unmanned aerial vehicle A and the self-body, and calculates the absolute position of the self-body according to the absolute position of the GNSS positioning of the unmanned aerial vehicle A; if all unmanned aerial vehicles in the network can not normally realize GNSS positioning, the fusion positioning module measures the relative position between the unmanned aerial vehicles through the ultra-wideband positioning module, and carries out target identification, obstacle avoidance and path planning according to the visual positioning information.
Furthermore, the ARM main control unit is also used for realizing a power management strategy, and the power management strategy senses the change of the external environment through an external sensor and switches the working mode.
Furthermore, fuse orientation module still can receive ground control center instruction through wireless self-organizing network, and the flight of manual control unmanned aerial vehicle.
Furthermore, the 2 WIFI units, the GNSS receiving unit, the ultra-wideband positioning unit and the camera interface are electrically connected with the ARM main control unit;
furthermore, the vision positioning module receives image data of a binocular camera of the unmanned aerial vehicle through a camera interface, obtains a disparity map through image acquisition, image correction and stereo matching, calculates depth information of a scene according to a mapping relation, further reconstructs three-dimensional information of a space scenery, and outputs the three-dimensional information serving as vision positioning information to the fusion positioning module through a register in the ARM main control unit.
Furthermore, after the ultra-wideband positioning unit is powered on, a positioning request is sent to other unmanned aerial vehicles periodically, positioning auxiliary data is obtained and output to the fusion positioning module, the fusion positioning module predicts the rough coordinate of the terminal to be positioned according to the TDOA principle, and iteration convergence is carried out for multiple times, so that the position coordinate of the terminal to be positioned is obtained finally.
Furthermore, the fusion positioning module obtains a rough altitude according to the atmospheric pressure value and the temperature output by the barometer.
Furthermore, the system also comprises a graph transmission interface and a flight control interface; the image transmission interface and the flight control interface are used for connecting corresponding interfaces of the unmanned aerial vehicle load; and transmitting the image transmission information and the flight control information to the ground control terminal through the wireless self-organizing network.
The invention adopts the technical scheme to produce the beneficial effects that:
1. the invention has good universality; the unmanned aerial vehicle has the common flight control and image transmission standard interfaces of the unmanned aerial vehicle, and can be adapted to most unmanned aerial vehicles.
2. The invention is easy to develop and maintain. The invention adopts the current popular ARM + Linux architecture, is easy to develop, transplant and maintain, and has small equipment volume and low power consumption.
3. The invention has high integration level; the invention integrates a GNSS module, a WIFI module, a UWB module, a vision sensor, a barometer sensor and other sensors, and has high integration level.
Drawings
FIG. 1 is an electrical schematic block diagram of the present invention;
figure 2 is an electrical schematic block diagram of the ARM master module of figure 1.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific embodiments.
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
The utility model provides a wireless network deployment positioning device suitable for unmanned aerial vehicle, includes first WIFI unit, second WIFI unit, GNSS high accuracy positioning unit, ARM main control unit, ultra wide band positioning unit, picture pass interface, camera interface, flies to control interface, power supply interface, barometer and constitutes.
The first WIFI module and the second WIFI module support multiple unmanned aerial vehicles to rapidly establish a wireless self-organizing network, and autonomous high-speed communication between the unmanned aerial vehicles is achieved under the condition that no external network exists. In order to enlarge the wireless networking distance, power amplifiers with 11dB gains are configured in 2 WIFI units.
Under the outdoor environment, the unmanned aerial vehicle receives global satellite navigation signals through the GNSS high-precision positioning unit, and high-precision positioning is realized by utilizing an RTK technology.
When the unmanned aerial vehicle enters the room, the GNSS cannot receive satellite signals, and positioning cannot be performed. At this moment, a binocular camera of the unmanned aerial vehicle can be connected to a camera interface of the equipment, an indoor environment map is constructed through a stereoscopic vision technology, and indoor obstacle avoidance and path planning are achieved.
In the room, the ultra wide band positioning unit 5 carries out signal receiving and dispatching with the ultra wide band positioning unit 5 of other unmanned aerial vehicles to realize the relative position measurement of many unmanned aerial vehicles. The GNSS positioning data of the unmanned aerial vehicle deployed outdoors can be received through the wireless self-organizing network, and the absolute position of the indoor unmanned aerial vehicle can be calculated according to the relative position of the indoor unmanned aerial vehicle and the outdoor unmanned aerial vehicle measured by the ultra-wideband positioning unit 5.
The barometer 10 can provide coarse altitude information to the drone, assisting the drone in resolving different floors.
The data that above-mentioned each module produced all gathers ARM main control unit 4, and ARM main control unit 4 realizes unmanned aerial vehicle's indoor outer navigation location through carrying out analysis, processing, integration to each peripheral sensor data.
The image transmission interface 6 and the flight control interface 8 are used for connecting corresponding interfaces of the unmanned aerial vehicle load. The map transmission and flight control information is transmitted to the ground control terminal through the wireless self-organizing network.
The power supply interface 9 is a power supply interface of the device, and supports 8V battery power supply and 12V external direct current power supply.
The following is a more specific example:
referring to fig. 1 and 2, the present embodiment is composed of a first WIFI unit 1, a second WIFI unit 2, a GNSS high-precision positioning unit 3, an ARM main control unit 4, an ultra-wideband positioning unit 5, an image transmission interface 6, a camera interface 7, a flight control interface 8, a power supply interface 9, and a barometer 10.
First WIFI unit, second WIFI unit all are connected with ARM main control unit 4 through the SDIO interface, support 802.11b/g/n agreement, support many unmanned aerial vehicles to establish the wireless self-organizing network based on the ADOV agreement fast, realize unmanned aerial vehicle and unmanned aerial vehicle, unmanned aerial vehicle and ground control terminal's communication. And 2 WIFI units are all configured with 11dB gain power amplifiers.
Under the outdoor environment, the unmanned aerial vehicle receives global satellite navigation signals through the GNSS high-precision positioning unit 3, and centimeter-level high-precision positioning is realized by using an RTK technology. The GNSS high-precision positioning unit 3 supports all civil frequency point signals of global main satellite navigation systems including GPS, GLONASS, Beidou and Galileo, and also supports the receiving of global main SBAS signals.
The ultra-wideband positioning unit 5 is responsible for transmitting and receiving ultra-wideband ranging signals and ranging between unmanned aerial vehicles.
The diagram passes interface 6 and provides standard SPI interface, conveniently inserts unmanned aerial vehicle's diagram and passes the load, and this interface supports 3 lines SPI or 4 lines SPI, only supports local master mode, equipment slave mode.
The camera interface 7 is a standard USB3.0 interface, and can expand a USB camera to realize visual navigation and positioning.
The flight control interface 8 is a 3.3V asynchronous serial interface (uart) and can be connected with a flight control interface of the unmanned aerial vehicle, and the ground control terminal can control the unmanned aerial vehicle to fly through the flight control interface by utilizing a wireless self-organizing network.
The power supply interface 9 supports 8V battery power supply and 12V external dc power supply.
The barometer 10 can provide coarse altitude information to the drone, assisting the drone in resolving different floors.
The ARM main control unit 4 analyzes, processes and fuses data of various peripheral sensors, and indoor and outdoor navigation and positioning of the unmanned aerial vehicle are achieved.
The ARM main control unit 4 comprises a visual positioning module 13, a fusion positioning module 12, a wireless ad hoc network communication module 11, a power management strategy 20 and various peripheral drivers.
The vision positioning module 13 receives image data of the binocular camera through the USB interface, obtains a disparity map through steps of binocular image acquisition, image correction, stereo matching and the like by using the ability of a person to perceive a stereo space through both eyes, and calculates depth information of a scene according to a mapping relationship, thereby reconstructing three-dimensional information of a spatial scene. The visual positioning module 13 outputs the visual positioning information to the fusion positioning module through the internal register of the ARM main control unit 4 for further fusion positioning.
The fusion positioning module 12 first initializes the units connected to it, including the ultra-wideband positioning unit 5, the GNSS high-precision positioning unit 3, and the barometer 10, so that they enter a normal working state. And then, comprehensively analyzing and fusing the data reported by each unit to realize the indoor and outdoor navigation positioning of the unmanned aerial vehicle.
The fusion positioning module 12 sets the format of the output signal of the GNSS high-precision positioning unit 3 to be a standard NMEA 0183 structure, sets the serial port baud rate to be 19200bps, sets the pulse width output by 1PPS to be 1ms, and sets the output frequency to be 1 Hz. And after the setting is finished, the output positioning state and information of the receiver are read through uart.
After being powered on, the ultra-wideband positioning unit 5 regularly sends positioning requests to other unmanned aerial vehicles to acquire positioning auxiliary data. The fusion positioning module 12 estimates the rough coordinate of the terminal to be positioned according to the TDOA principle, and performs multiple iterative convergence to finally obtain the position coordinate of the terminal to be positioned.
The fusion positioning module 12 is simple to set the barometer 10, and initializes the serial port and the sensor after being powered on. And then, according to the air pressure value and the temperature output by the air pressure device, the rough altitude of the equipment is obtained by searching a standard atmospheric pressure table. And finally, correcting the altitude result according to the actual situation to obtain the final equipment altitude result.
The fusion positioning module 12 monitors the satellite signal quality received by the GNSS high-precision positioning unit 3 in real time, analyzes data quality indexes such as multipath effect, ionospheric delay, cycle slip ratio, signal-to-noise ratio, data integrity rate, clock slip and the like, and judges the availability of the GNSS signal.
When the GNSS signal of the drone is not available, the integrated positioning module 12 may query whether GNSS positioning of other drones in the network is normal through the wireless ad hoc network. If there is the normal unmanned aerial vehicle A of GNSS location in the net, the relative position of this local and unmanned aerial vehicle A can be measured automatically to the ultra wide band positioning unit 5 of this local to according to the absolute position of unmanned aerial vehicle A's GNSS location, calculate the absolute position of this local.
If all unmanned aerial vehicles in the network have no GNSS positioning, the fusion positioning module 12 measures the relative positions of the unmanned aerial vehicles by using the ultra-wideband positioning unit 5, and performs tasks such as target identification, obstacle avoidance, path planning and the like according to the visual positioning module. And the ground control center instruction can be received through a wireless self-organizing network, and the unmanned aerial vehicle is controlled to fly manually.
The wireless ad hoc network communication module 11 utilizes the WIFI signal, and realizes automatic network organization and operation of multiple unmanned aerial vehicles through coordination of layered network protocols and distributed modules. The network structure of the wireless ad hoc network is divided into a planar structure and a hierarchical structure, and the hierarchical structure is adopted here. All drones are divided into a plurality of groups, each group consisting of a group head and group members. The cluster head is responsible for intra-cluster management and inter-cluster communication. And 2 WIFI units at the head of the group, wherein the WIFI unit 1 works in an ADHOC mode, and the WIFI unit 2 works in an AP mode. The WIFI unit 2 working in the AP mode is responsible for realizing intra-group communication, and realizes data exchange with the WIFI unit 2 working in the Manage mode by group members. The WIFI unit 1 operating in ADHOC mode is responsible for inter-group communication, and exchanges data with other group heads operating in ADHOC mode.
The power management strategy 20 intelligently senses the change of the external environment through the peripheral sensor, automatically switches the working mode of the equipment, and timely switches the units which are not used temporarily to the dormant state, so that the power consumption of the equipment is reduced, and the cruising ability of the equipment is improved.
It should be understood that the above description of the embodiments of the present patent is only an exemplary description for facilitating the understanding of the patent scheme by the person skilled in the art, and does not imply that the scope of protection of the patent is only limited to these examples, and that the person skilled in the art can obtain more embodiments by combining technical features, replacing some technical features, adding more technical features, and the like to the various embodiments listed in the patent without any inventive effort on the premise of fully understanding the patent scheme, and therefore, the new embodiments are also within the scope of protection of the patent.
Claims (7)
1. A wireless networking positioning device suitable for a small unmanned aerial vehicle comprises an ARM main control unit and a WIFI unit; the device is characterized by also comprising a GNSS receiving unit, an ultra-wideband positioning unit, a camera interface and a barometer; 2 WIFI units are arranged;
the 2 WIFI units are used for networking and communication; the wireless self-organizing network supports a plurality of unmanned aerial vehicle rapid components based on an ADOV protocol, and is used for realizing communication between the unmanned aerial vehicles and the ground control terminals; the camera interface is used for connecting a binocular camera of the unmanned aerial vehicle;
the ARM main control unit is used for analyzing, processing and fusing data of each sensor to realize indoor and outdoor navigation positioning and networking communication of the unmanned aerial vehicle; the system comprises a visual positioning module, a fusion positioning module and a wireless ad hoc network communication module; the visual positioning module is used for receiving the image data and reconstructing three-dimensional information of the space scenery; the fusion positioning module comprehensively analyzes and fuses data reported by the ultra-wideband positioning unit, the GNSS receiving unit and the barometer, so that indoor and outdoor navigation positioning of the unmanned aerial vehicle is realized; the wireless ad hoc network communication module realizes automatic network organization and operation of the multiple unmanned aerial vehicles through WIFI signals;
the GNSS receiving unit is used for receiving GNSS satellite navigation signals and realizing outdoor centimeter-level high-precision positioning by using an RTK technology;
the ultra-wideband positioning unit calculates the distance or the distance difference between the transmitting end and the receiving end based on the signal arrival time delay or the time delay difference by using nanosecond or even picosecond-level extremely narrow pulses, so that indoor high-precision positioning is realized;
the 2 WIFI units, the GNSS receiving unit, the ultra-wideband positioning unit and the camera interface are electrically connected with the ARM main control unit; the wireless ad hoc network communication module adopts a hierarchical network structure to divide all unmanned aerial vehicles into a plurality of groups, each group consists of a group head and group members, and the group head is responsible for intra-group management and inter-group communication; the first WIFI module works in an ADHOC mode, and the second WIFI module works in an AP mode; the second WIFI module working in the AP mode is responsible for realizing intra-group communication and realizes data exchange with the second WIFI module working in the Manage mode of group members; the first WIFI module working in the ADHOC mode is responsible for inter-group communication and exchanges data with other group heads working in the ADHOC mode;
the fusion positioning module monitors the quality of the satellite signals received by the GNSS receiving unit in real time and judges the availability of the GNSS signals; when the GNSS signal of the unmanned aerial vehicle is unavailable, the fusion positioning module inquires whether the GNSS positioning of other unmanned aerial vehicles in the network is normal or not through the wireless self-organizing network; if the unmanned aerial vehicle A with normal GNSS positioning exists in the network, an ultra-wideband positioning module of the unmanned aerial vehicle measures the relative position of the unmanned aerial vehicle A and the self-body, and calculates the absolute position of the self-body according to the absolute position of the GNSS positioning of the unmanned aerial vehicle A; if all unmanned aerial vehicles in the network can not normally realize GNSS positioning, the fusion positioning module measures the relative position between the unmanned aerial vehicles through the ultra-wideband positioning module, and carries out target identification, obstacle avoidance and path planning according to the visual positioning information.
2. The device of claim 1, wherein the ARM main control unit is further configured to implement a power management policy, and the power management policy senses changes in an external environment through an external sensor and switches the operating mode.
3. The device of claim 1, wherein the converged positioning module is further configured to receive a ground control center command via a wireless ad hoc network, so as to manually control the flight of the drone.
4. The wireless networking positioning device of claim 1, wherein the vision positioning module receives image data of a binocular camera of the unmanned aerial vehicle through the camera interface, obtains a disparity map through image acquisition, image correction and stereo matching, calculates depth information of a scene according to a mapping relationship, reconstructs three-dimensional information of a space scene, and outputs the three-dimensional information as vision positioning information to the fusion positioning module through a register in the ARM main control unit.
5. The wireless networking positioning device suitable for the small unmanned aerial vehicle as claimed in claim 1, wherein the ultra-wideband positioning unit periodically sends a positioning request to other unmanned aerial vehicles after being powered on, acquires positioning assistance data and outputs the positioning assistance data to the fusion positioning module, and the fusion positioning module estimates a rough coordinate of the terminal to be positioned according to a TDOA principle, and performs multiple iterative convergence to finally obtain the position coordinate of the terminal to be positioned.
6. The device according to claim 1, wherein the fusion positioning module derives a rough altitude according to the barometric pressure and the temperature outputted by the barometer.
7. The device of claim 1, further comprising a mapping interface and a flight control interface; the image transmission interface and the flight control interface are used for connecting corresponding interfaces of the unmanned aerial vehicle load; and transmitting the image transmission information and the flight control information to the ground control terminal through the wireless self-organizing network.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111009273.9A CN113740894B (en) | 2021-08-31 | 2021-08-31 | Wireless networking positioning equipment suitable for small unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111009273.9A CN113740894B (en) | 2021-08-31 | 2021-08-31 | Wireless networking positioning equipment suitable for small unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113740894A true CN113740894A (en) | 2021-12-03 |
| CN113740894B CN113740894B (en) | 2023-12-29 |
Family
ID=78734087
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111009273.9A Active CN113740894B (en) | 2021-08-31 | 2021-08-31 | Wireless networking positioning equipment suitable for small unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113740894B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206178157U (en) * | 2016-10-27 | 2017-05-17 | 上海华测导航技术股份有限公司 | Unmanned aerial vehicle flight control system based on CORS network differential positioning |
| KR101979860B1 (en) * | 2017-12-18 | 2019-05-17 | 한국과학기술원 | Local-Area Differential GNSS for UAV navigation |
| US20190243389A1 (en) * | 2016-10-27 | 2019-08-08 | Shanghai Huace Navigation Technology Ltd | Flight control system of unmanned aerial vehicle with differential positioning based on cors network |
| CN112344930A (en) * | 2020-11-27 | 2021-02-09 | 上海工程技术大学 | Indoor positioning navigation system for unmanned aerial vehicle |
-
2021
- 2021-08-31 CN CN202111009273.9A patent/CN113740894B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206178157U (en) * | 2016-10-27 | 2017-05-17 | 上海华测导航技术股份有限公司 | Unmanned aerial vehicle flight control system based on CORS network differential positioning |
| US20190243389A1 (en) * | 2016-10-27 | 2019-08-08 | Shanghai Huace Navigation Technology Ltd | Flight control system of unmanned aerial vehicle with differential positioning based on cors network |
| KR101979860B1 (en) * | 2017-12-18 | 2019-05-17 | 한국과학기술원 | Local-Area Differential GNSS for UAV navigation |
| CN112344930A (en) * | 2020-11-27 | 2021-02-09 | 上海工程技术大学 | Indoor positioning navigation system for unmanned aerial vehicle |
Non-Patent Citations (2)
| Title |
|---|
| SENLET T 等: "Satellite image based precise robot localization on side-walks", IEEE INTERNATIONAL CONFERENCE ON ＲOBOTICS AND AUTOMATION ( ICＲA) * |
| 郝菁 等: "基于惯导/数据链的动态相对定位方法", 计算机测量与控制, vol. 26, no. 10 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113740894B (en) | 2023-12-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109283565B (en) | Indoor and outdoor positioning system and method based on UWB fusion GPS and inertial navigation | |
| AU2018259895B2 (en) | Information processing device, information processing method, information processing program, image processing device, and image processing system | |
| AU2018442628A1 (en) | Positioning device and positioning method therefor | |
| CN101867868A (en) | Combined navigation unit and implementing method thereof | |
| TW202037205A (en) | Ultra-wideband assisted precise positioning system and method | |
| CN109270956A (en) | A kind of unmanned vehicle independent Position Fixing Navigation System based on UWB | |
| CN109781120B (en) | Vehicle combination positioning method based on synchronous positioning composition | |
| CN206741310U (en) | Multiple no-manned plane communication control system | |
| CN107703512A (en) | Airborne mapping equipment, unmanned plane and airborne mapping system | |
| CN109067449A (en) | A kind of multi-mode satellite communication terminal and method with multiple antennas route | |
| CN108845587A (en) | Unmanned plane real-time control system and unmanned plane | |
| CN110190891A (en) | The monitoring data acquisition method and system of farmland quality low-altitude remote sensing and earth horizon sensor | |
| CN113359786A (en) | Multi-rotor unmanned aerial vehicle accurate landing guiding method integrating flying heights | |
| KR102268380B1 (en) | Method for measuring distance between mobile station using precise position measurement and system and method for measuring distance between golfer and hole cup using the same | |
| CN107291092A (en) | A kind of air-ground coordination UAS of WiFi supports | |
| CN112556695B (en) | Indoor positioning and three-dimensional modeling method, system, electronic equipment and storage medium | |
| CN117459898A (en) | Emergency positioning communication method and system | |
| CN207336750U (en) | Airborne mapping equipment, unmanned plane and airborne mapping system | |
| CN113740894B (en) | Wireless networking positioning equipment suitable for small unmanned aerial vehicle | |
| CN213403514U (en) | Unmanned aerial vehicle positioner based on loRa communication | |
| CN209265270U (en) | A kind of unmanned vehicle independent Position Fixing Navigation System based on UWB | |
| CN115031721A (en) | Radio signal positioning and navigation system and method for space-based platform | |
| CN205139715U (en) | Unmanned aircraft system that searches for ands rescue | |
| CN113110602A (en) | Neural network's automatic system of patrolling and examining of high robustness unmanned aerial vehicle power equipment | |
| CN113108785A (en) | Isomorphic IMU-oriented distributed cooperative mutual calibration positioning method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |