CN114578407A - Real-time estimation method and system for position and speed for unmanned aerial vehicle navigation - Google Patents

Abstract

The invention discloses a real-time estimation method and a real-time estimation system for position and speed of unmanned aerial vehicle navigation, belonging to the technical field of unmanned aerial vehicles, wherein the real-time estimation method comprises the following steps: s1, acquiring the take-off area map information of the unmanned aerial vehicle; s2 obtaining the initial position A (X) of the unmanned plane₀,Y₀,Z₀) GPS information, and drone altitude information, at which point picture information P1 is recorded, and time T is recorded₀Determining the position of the point in the takeoff area of the unmanned aerial vehicle; s3 obtaining unmanned aerial vehicle moving position B (X)₁,Y₁,Z₁) GPS information, and drone altitude information, at which point picture information P2 is recorded, and time T is recorded₁And the like. The invention measures the distance by using the GPS module and the radar module, measures the distance by combining the GPS technology and the radar module, thereby measuring the speed, and measures the distance by using the radar moduleThe distance and the speed are measured and calculated after the reference point flies, and the two speeds are processed and compared with the designed speed, so that whether the current speed is the normal speed or not can be effectively judged, and inaccurate data can be discharged, so that the estimated data is more accurate.

Description

Real-time estimation method and system for position and speed for unmanned aerial vehicle navigation

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a method and a system for estimating position and speed for unmanned aerial vehicle navigation in real time.

Background

The unmanned aerial vehicle is a pilotless aircraft which is operated by a radio remote control device and a self-contained program control device.

Many rotor unmanned aerial vehicle belongs to emerging technique, high-new leading edge science and technology industry. With the development of science and technology, the unmanned aerial vehicle is used for military purposes and has wider and wider application range in the civil field. Because the unmanned aerial vehicle has the characteristics of low operation cost, no casualty risk, good maneuvering characteristics, capability of flying beyond visual range, convenience and high efficiency in use and the like, the unmanned aerial vehicle is successfully applied to the fields of film and television aerial photography, surveying and mapping aerial survey, high-voltage line patrol, remote monitoring, disaster relief and rescue, pesticide spraying, commercial performance and the like, and more industries hope to replace the traditional manual operation mode with the unmanned aerial vehicle.

Flight control system on unmanned aerial vehicle for control unmanned aerial vehicle's flight, be the core of unmanned aerial vehicle technique, control system's quality directly influences unmanned aerial vehicle's performance security even, and the accuracy of information such as attitude, position, speed, height to unmanned aerial vehicle acquires and control then is an outstanding unmanned aerial vehicle control system's basis. The problem that how to improve unmanned aerial vehicle's gesture, position, speed, high control speed, control accuracy need be solved at present is that whether many rotor unmanned aerial vehicle or fixed wing unmanned aerial vehicle's control system all need provide high accuracy and real-time position, speed and gesture estimation, and high accuracy measurement is the prerequisite of high accuracy control, and the real-time nature then has corresponded control cycle's needs. However, the existing position and speed estimation equipment for unmanned aerial vehicle navigation is easily influenced by interference, the solution for summarizing in the prior art is complex, the precision of the equipment is required to be used, the influence is easy to occur, and the manufacturing cost and the maintenance cost of a small unmanned aerial vehicle are strictly controlled, so that a real-time position and speed estimation method for unmanned aerial vehicle navigation is provided.

Disclosure of Invention

The invention provides the following technical scheme:

a real-time estimation method of position and speed for unmanned aerial vehicle navigation comprises the following steps:

s1, acquiring the take-off area map information of the unmanned aerial vehicle;

s2 obtaining the initial position A (X) of the unmanned plane₀,Y₀,Z₀) GPS information, and drone altitude information, at which point picture information P1 is recorded, and time T is recorded₀Determining the position of the point in the takeoff area of the unmanned aerial vehicle;

s3 obtaining unmanned aerial vehicle moving position B (X)₁,Y₁,Z₁) GPS information, and drone altitude information, at which point picture information P2 is recorded, and time T is recorded₁；

S4 calculating T by combining elevation information and GPS information and calculating the distance between B point and A point_1-T₀And calculating the current speed V by combining the distance from the point B to the point A₁；

S5 selecting reference point C in image information P1₁The reference point C is determined in the picture information P2₂In conjunction with the reference point C₁-C₂Calculating speed V between distances₂；

S6 dividing V₁And V₂And summarizing and comparing, judging the speed difference, judging whether the current position information is the current position information and the speed information is accurate, comparing the speed at the moment with the designed speed, and judging whether the current position information is in a normal interval.

As a preferred aspect of the present invention, the map information in step S1 is further divided into:

s1.1, acquiring global GPS information through a GPS module;

s1.2, determining the GPS position of the unmanned aerial vehicle, dividing a takeoff area by the radius of 1-5km of the position, and displaying the takeoff area on unmanned aerial vehicle control equipment.

As a preferred aspect of the present invention, the acquiring of the initial position information of the unmanned aerial vehicle in step S2 further includes the following steps;

s2.1 obtaining the initial position A (X) of the unmanned plane₀,Y₀,Z₀) GPS information;

s2.2, acquiring current elevation information of the unmanned aerial vehicle through a radar module;

s2.3 recording time T₀And determining the point position in the takeoff area of the unmanned aerial vehicle.

As a preferable scheme of the present invention, the collecting of the water source information in step S3 further includes the steps of:

s3.1 get unmanned aerial vehicle mobile position B (X)₁,Y₁,Z₁) GPS information;

s3.2, acquiring the elevation information of the unmanned aerial vehicle through a radar module, and recording picture information P2 at the point;

s3.2 recording time T₁And determining the point position in the takeoff area of the unmanned aerial vehicle.

As a preferable scheme of the present invention, the acquiring alarm information of step S4 further includes the following steps:

s4.1, calculating the distance between a point B and a point A by combining elevation information and GPS information;

s4.2 calculating T_1-T₀And calculating the current speed V by combining the distance from the point B to the point A₁。

As a preferable aspect of the present invention, the report alert information of step S5 generally includes the steps of:

s5.1 selecting reference point C in image information P1₁And determining C in combination with the radar information₁A point position;

s5.2 Re-identifying the reference point C in the Picture information P2₁In conjunction with the reference point C₁Velocity V is calculated from the distance₂。

As a preferable aspect of the present invention, the report alert information of step S6 generally includes the steps of:

s6.1 reaction of V₁And V₂Summarizing and comparing, judging a speed difference value, and if the speed difference value is within an allowable threshold value, adopting data as current position and speed information;

s6.2, comparing the determined speed information with the designed speed, judging a speed difference value, uploading the speed difference value by adopting the information if the speed difference value is within an allowable threshold value, discarding data if the speed exceeds the threshold value, and then integrating and averaging a plurality of groups of data to obtain the estimated speed.

A real-time position and velocity estimation system for drone navigation, comprising:

the GPS module is arranged on the unmanned aerial vehicle and connected with the master control module, and is used for acquiring real-time position information of the unmanned aerial vehicle and sending the information to the master control module;

the radar module is connected to the master control module and used for collecting information of the distance between the unmanned aerial vehicle and the ground;

the photographing module is connected to the master control module and is used for acquiring video information;

and the master control module is respectively connected with the GPS module, the radar module and the photographing module and is used for receiving the data information collected by the GPS module, the radar module and the photographing module and carrying out integrated calculation.

As a preferred scheme of the present invention, the general control module includes:

the data processing module is connected to the GPS module, the radar module and the photographing module and is used for receiving data information collected by the data processing module and performing integrated calculation;

and the timing module is connected to the data processing module and is used for recording time nodes of information collected by the GPS module, the radar module and the photographing module.

As a preferred scheme of the present invention, the general control module further includes:

and the communication module is connected with the data processing module and is used for being connected with an intelligent terminal carried by a worker.

Compared with the prior art: the GPS module and the radar module are used for ranging, the GPS technology is combined with the GPS module to measure the distance, so that the speed is measured, the radar module selects a reference point to measure the distance and the speed after flying, the two speeds are processed and compared with the designed speed, whether the current speed is the normal speed can be effectively judged, and inaccurate data can be discharged, so that the estimated data are more accurate.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail with reference to the accompanying drawings and detailed embodiments, 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 to obtain other drawings without inventive exercise. Wherein:

FIG. 1 is a block diagram of a method for real-time estimation of position and velocity for unmanned aerial vehicle navigation in accordance with the present invention;

FIG. 2 is a block diagram of a system for real-time estimation of position and velocity for unmanned aerial vehicle navigation according to the present invention;

FIG. 3 is a block diagram of a general control module of the real-time position and velocity estimation system for unmanned aerial vehicle navigation according to the present invention;

FIG. 4 is a diagram of a position and velocity real-time estimation system V for unmanned aerial vehicle navigation according to the present invention₁And V₂A speed comparison block diagram;

fig. 5 is a first schematic diagram of comparison between measured speed and factory-set speed in the real-time estimation system of position and speed for unmanned aerial vehicle navigation according to the present invention;

fig. 6 is a schematic block diagram illustrating comparison between the measured speed and the factory-set speed of the real-time estimation system for the position and speed of the unmanned aerial vehicle for navigation according to the present invention.

In the figure: 100. the system comprises a GPS module, 200, a radar module, 300, a photographing module, 400 and a master control module.

Detailed Description

The present invention will be described in detail with reference to the following embodiments in order to make the above objects, features and advantages of the present invention more comprehensible.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described herein, and it will be apparent to those of ordinary skill in the art that the present invention may be practiced without departing from the spirit and scope of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.

In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in further detail below.

Fig. 1 to 6 show that the real-time estimation method and system for position and speed for unmanned aerial vehicle navigation according to the present invention measures distance by using the GPS module 100 and the radar module 200, and measures distance by using the GPS technology in combination with the distance measurement and the radar module 200, and measures distance and speed by selecting a reference point by the radar module 200 after flying, and processes two speeds to compare the two speeds with a designed speed, so as to effectively determine whether the current speed is a normal speed, and further, to discharge inaccurate data, so that the estimated data is more accurate, specifically, the present invention includes:

a real-time estimation method of position and speed for unmanned aerial vehicle navigation comprises the following steps:

s1, acquiring the take-off area map information of the unmanned aerial vehicle;

s2 obtaining the initial position A (X) of the unmanned plane₀,Y₀,Z₀) GPS information, and drone altitude information, at which point picture information P1 is recorded, and time T is recorded₀Determining the position of the point in the take-off area of the unmanned aerial vehicle;

s3 obtaining unmanned aerial vehicle moving position B (X)₁,Y₁,Z₁) GPS information, and unmanned aerial vehicle elevation information, at which point picture information P2 is recorded, and time T is recorded₁；

S4 calculating T by combining elevation information and GPS information and calculating the distance between B point and A point_1-T₀And calculating the current speed V by combining the distance from the point B to the point A₁；

S5 selecting reference point C in image information P1₁The reference point C is determined in the picture information P2₂In conjunction with the reference point C₁-C₂Velocity V is calculated from the distance₂；

S6 dividing V₁And V₂And summarizing and comparing, judging the speed difference, judging whether the current position information is the current position information and the speed information is accurate, comparing the speed at the moment with the designed speed, and judging whether the current position information is in a normal interval.

Further, the map information in step S1 is further divided into:

s1.1, global GPS information is acquired through a GPS module 100;

s1.2, determining the GPS position of the unmanned aerial vehicle, dividing a takeoff area by the radius of 1-5km of the position, and displaying the takeoff area on unmanned aerial vehicle control equipment.

Further, the acquiring of the initial position information of the unmanned aerial vehicle in step S2 further includes the following steps;

s2.1 obtaining an initial position A (X) of the unmanned aerial vehicle₀,Y₀,Z₀) GPS information;

s2.2, acquiring current elevation information of the unmanned aerial vehicle through a radar module 200;

s2.3 recording time T₀And determining the point position in the takeoff area of the unmanned aerial vehicle.

Further, the step of collecting the water source information in step S3 further includes the steps of:

s3.1 get unmanned aerial vehicle mobile position B (X)₁,Y₁,Z₁) GPS information;

s3.2, acquiring the elevation information of the unmanned aerial vehicle through the radar module 200, and recording picture information P2 at the point;

s3.2 recording time T₁And determining the point position in the takeoff area of the unmanned aerial vehicle.

Further, the acquiring alarm information of step S4 further includes the following steps:

s4.1, calculating the distance between a point B and a point A by combining elevation information and GPS information;

s4.2 calculating T_1-T₀And calculating the current speed V by combining the distance from the point B to the point A₁。

Further, the reporting alarm information of step S5 generally includes the following steps:

s5.1 selecting reference point C in image information P1₁And determining C in combination with the radar information₁A point position;

s5.2 Re-identifying the reference point C in the Picture information P2₁In conjunction with the reference point C₁Velocity V is calculated from the distance₂。

Further, the reporting alarm information of step S6 generally includes the following steps:

s6.1 reaction of V₁And V₂Summarizing, comparing and judgingIf the speed difference value is within the allowable threshold value, adopting data as the current position and the speed information, wherein the threshold value of the speed difference value is influenced by the current weather state, and the threshold parameter is larger when the wind power level is higher;

s6.2, comparing the determined speed information with the designed speed, judging a speed difference value, uploading the speed difference value by adopting the information if the speed difference value is within an allowable threshold value, discarding data if the speed exceeds the threshold value, and then integrating and averaging a plurality of groups of data to obtain the estimated speed.

A real-time position and velocity estimation system for drone navigation, comprising:

the GPS module 100 is arranged on the unmanned aerial vehicle and connected with the master control module 400, and the GPS is used for collecting real-time position information of the unmanned aerial vehicle and sending the information to the master control module 400;

the radar module 200 is connected to the master control module 400, and the radar module 200 is used for collecting information of the distance between the unmanned aerial vehicle and the ground;

the photographing module 300 is connected to the master control module 400, and is used for acquiring video information;

and the general control module 400 is respectively connected with the GPS module 100, the radar module 200 and the photographing module 300, and is used for receiving the data information collected by the GPS module 100, the radar module 200 and the photographing module 300 and performing integrated calculation.

Further, the general control module 400 includes:

the data processing module is connected to the GPS module 100, the radar module 200 and the photographing module 300 and is used for receiving data information acquired by the data processing module and performing integrated calculation;

and the timing module is connected to the data processing module and is used for recording time nodes of information collected by the GPS module 100, the radar module 200 and the photographing module 300.

Further, the general control module 400 further includes:

and the communication module is connected with the data processing module and is used for being connected with an intelligent terminal carried by a worker.

Example 1: a real-time estimation method of position and speed for unmanned aerial vehicle navigation comprises the following steps: a real-time estimation method of position and speed for unmanned aerial vehicle navigation comprises the following steps:

s1, acquiring the map information of the take-off area of the unmanned aerial vehicle, and specifically comprising the following steps:

s1.1, global GPS information is acquired through a GPS module 100;

s1.2, determining the GPS position of the unmanned aerial vehicle, dividing a takeoff area by the radius of 1-5km of the position, and displaying the takeoff area on unmanned aerial vehicle control equipment;

s2 obtaining the initial position A (X) of the unmanned plane₀,Y₀,Z₀) GPS information, and drone altitude information, at which point picture information P1 is recorded, and time T is recorded₀And the position of the point is determined in the takeoff area of the unmanned aerial vehicle, the specific steps are,

s2.1 obtaining an initial position A (X) of the unmanned aerial vehicle₀,Y₀,Z₀) GPS information;

s2.2, acquiring current elevation information of the unmanned aerial vehicle through a radar module 200;

s2.3 recording time T₀Determining the position of the point in the takeoff area of the unmanned aerial vehicle;

s3 obtaining unmanned aerial vehicle moving position B (X)₁,Y₁,Z₁) GPS information, and drone altitude information, at which point picture information P2 is recorded, and time T is recorded₁The method comprises the following specific steps:

s3.1 get unmanned aerial vehicle mobile position B (X)₁,Y₁,Z₁) GPS information;

s3.2, acquiring the elevation information of the unmanned aerial vehicle through the radar module 200, and recording picture information P2 at the point;

s3.2 recording time T₁Determining the position of the point in the takeoff area of the unmanned aerial vehicle;

s4 calculating T by combining elevation information and GPS information and calculating the distance between B point and A point_1-T₀And calculating the current speed V by combining the distance from the point B to the point A₁The concrete steps are：

S4.1, calculating the distance between a point B and a point A by combining elevation information and GPS information;

s4.2 calculating T_1-T₀And calculating the current speed V by combining the distance from the point B to the point A₁；

S5 selecting reference point C in image information P1₁The reference point C is determined in the picture information P2₂In conjunction with the reference point C₁-C₂Velocity V is calculated from the distance₂The method comprises the following specific steps:

s5.1 selecting reference point C in image information P1₁And determining C in combination with the radar information₁A point position;

s5.2 Re-identifying the reference point C in the Picture information P2₁In conjunction with the reference point C₁Velocity V is calculated from the distance₂；

S6 dividing V₁And V₂Summarizing and comparing, judging a speed difference value, judging whether the current position information is the current position information and the speed information is accurate, comparing the speed with the design speed at the moment, and judging whether the speed is in a normal interval, wherein the method comprises the following specific steps of:

s6.1 reaction of V₁And V₂Summarizing and comparing, judging a speed difference value, and if the speed difference value is within an allowable threshold value, adopting data as current position and speed information;

s6.2, comparing the determined speed information with the designed speed, judging a speed difference value, uploading the speed difference value by adopting the information if the speed difference value is within an allowable threshold value, discarding data if the speed exceeds the threshold value, and then integrating and averaging a plurality of groups of data to obtain the estimated speed.

Embodiment 2, a real-time estimation system of position and speed for unmanned aerial vehicle navigation includes:

the GPS module 100 is arranged on the unmanned aerial vehicle and connected with the master control module 400, and the GPS is used for collecting real-time position information of the unmanned aerial vehicle and sending the information to the master control module 400;

the radar module 200 is connected to the master control module 400, and the radar module 200 is used for collecting information of the distance between the unmanned aerial vehicle and the ground;

the photographing module 300 is connected to the master control module 400, and is used for acquiring video information;

the general control module 400 is respectively connected with the GPS module 100, the radar module 200 and the photographing module 300, and is used for receiving data information collected by the GPS module 100, the radar module 200 and the photographing module 300 and performing integrated calculation; specifically, the general control module 400 includes: the data processing module is connected to the GPS module 100, the radar module 200 and the photographing module 300, and is used for receiving data information acquired by the data processing module and performing integrated calculation; the timing module is connected to the data processing module and is used for recording time nodes of information collected by the GPS module 100, the radar module 200 and the photographing module 300; the communication module is connected with the data processing module and is used for being connected with an intelligent terminal carried by a worker, and the intelligent terminal can be an intelligent mobile phone, a computer and other equipment;

gather unmanned aerial vehicle's GPS data through GPS module 100 during the use, gather reference point distance information and with the perpendicular information in ground through radar module 200, gather image information through module 300 of shooing, gather time information through practice module simultaneously to send the information acquisition to total accuse module 400, carry out data processing and calculate and draw speed information, just total accuse module 400 embeds there is unmanned aerial vehicle design airspeed interval, is used for as the reference, can predict small-size unmanned aerial vehicle's course speed through integrating above-mentioned data, and current image information simultaneously can seek the operation when accident appears, can be used to find back the data reduction loss in the incomplete machine.

Claims (10)

1. A real-time estimation method for position and speed for unmanned aerial vehicle navigation is characterized by comprising the following steps:

s1, acquiring the take-off area map information of the unmanned aerial vehicle;

s2 obtaining the initial position A (X) of the unmanned plane₀,Y₀,Z₀) GPS information, and drone elevation information, at which point picture information P1 is recorded,and recording the time T₀Determining the position of the point in the takeoff area of the unmanned aerial vehicle;

s3 obtaining unmanned aerial vehicle moving position B (X)₁,Y₁,Z₁) GPS information, and drone altitude information, at which point picture information P2 is recorded, and time T is recorded₁；

S4 calculating T by combining elevation information and GPS information and calculating the distance between B point and A point_1-T₀And calculating the current speed V by combining the distance from the point B to the point A₁；

S5 selecting reference point C in image information P1₁The reference point C is determined in the picture information P2₂In conjunction with the reference point C₁-C₂Velocity V is calculated from the distance₂；

S6 changing V₁And V₂And summarizing and comparing, judging the speed difference, judging whether the current position information is the current position information and the speed information is accurate, comparing the speed at the moment with the designed speed, and judging whether the current position information is in a normal interval.

2. The method of claim 1, wherein the map information in step S1 is further divided into:

s1.1, acquiring global GPS information through a GPS module;

s1.2, determining the GPS position of the unmanned aerial vehicle, dividing a takeoff area by the radius of 1-5km of the position, and displaying the takeoff area on unmanned aerial vehicle control equipment.

3. The method of claim 1, wherein the step of obtaining the initial position information of the drone in step S2 further comprises the steps of;

s2.1 obtaining an initial position A (X) of the unmanned aerial vehicle₀,Y₀,Z₀) GPS information;

s2.2, acquiring current elevation information of the unmanned aerial vehicle through a radar module;

s2.3 recording time T₀And determining the point position in the takeoff area of the unmanned aerial vehicle.

4. The method of claim 1, wherein the step of collecting water source information in step S3 further comprises the steps of:

s3.1 get unmanned aerial vehicle mobile position B (X)₁,Y₁,Z₁) GPS information;

s3.2, acquiring the elevation information of the unmanned aerial vehicle through a radar module, and recording picture information P2 at the point;

s3.2 recording time T₁And determining the point position in the takeoff area of the unmanned aerial vehicle.

5. The method of claim 1, wherein the step of obtaining the alarm information of step S4 further comprises the steps of:

s4.1, calculating the distance between a point B and a point A by combining elevation information and GPS information;

s4.2 calculating T_1-T₀And calculating the current speed V by combining the distance from the point B to the point A₁。

6. The method of claim 1, wherein the step of reporting the warning information at step S5 generally comprises the steps of:

s5.1 selecting reference point C in image information P1₁And determining C in combination with the radar information₁A point position;

s5.2 Re-identifying the reference point C in the Picture information P2₁In conjunction with the reference point C₁Velocity V is calculated from the distance₂。

7. The method of claim 1, wherein the step of reporting the warning information in step S6 includes the steps of:

s6.1 reaction of V₁And V₂Summarizing and comparing, judging the speed difference, and if the speed is highIf the degree difference value is within the allowable threshold value, adopting the data as the current position and speed information;

s6.2, comparing the determined speed information with the designed speed, judging a speed difference value, uploading the speed difference value by adopting the information if the speed difference value is within an allowable threshold value, discarding data if the speed exceeds the threshold value, and then integrating and averaging a plurality of groups of data to obtain the estimated speed.

8. The utility model provides a position and speed's real-time estimation system that unmanned aerial vehicle navigation was used which characterized in that includes:

the GPS module is arranged on the unmanned aerial vehicle and connected with the master control module, and is used for acquiring real-time position information of the unmanned aerial vehicle and sending the information to the master control module;

the radar module is connected to the master control module and used for collecting information of the distance between the unmanned aerial vehicle and the ground;

the photographing module is connected to the master control module and is used for acquiring video information;

and the master control module is respectively connected with the GPS module, the radar module and the photographing module and is used for receiving the data information collected by the GPS module, the radar module and the photographing module and carrying out integrated calculation.

9. The system of claim 8, wherein the general control module comprises:

the data processing module is connected to the GPS module, the radar module and the photographing module and is used for receiving data information collected by the data processing module and performing integrated calculation;

and the timing module is connected to the data processing module and is used for recording time nodes of information collected by the GPS module, the radar module and the photographing module.

10. The method and system for real-time estimation of position and velocity for unmanned aerial vehicle navigation according to claim 9, wherein the general control module further comprises:

and the communication module is connected with the data processing module and is used for being connected with an intelligent terminal carried by a worker.

Images