CN115096292A - Unmanned aerial vehicle inbound navigation method and system - Google Patents
Unmanned aerial vehicle inbound navigation method and system Download PDFInfo
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- CN115096292A CN115096292A CN202210874724.3A CN202210874724A CN115096292A CN 115096292 A CN115096292 A CN 115096292A CN 202210874724 A CN202210874724 A CN 202210874724A CN 115096292 A CN115096292 A CN 115096292A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—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
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Abstract
The invention provides an unmanned aerial vehicle inbound navigation method and a system, wherein the method comprises the following steps: acquiring a ground reference signal and a ground reference signal, wherein the ground reference signal is a signal transmitted by a reference signal generating device on a reference ground, and the ground reference signal is a signal transmitted by the reference signal generating device on the reference ground; resolving to obtain reference signal transmission time and reference signal strength according to the ground reference signal and the ground reference signal; and performing inbound navigation on the unmanned aerial vehicle according to the reference signal transmission time and the reference signal strength. Resolving through obtaining ground reference signal and ground reference signal, obtaining reference signal transmission time and reference signal intensity to can come to carry out the guide of inbound to unmanned aerial vehicle according to reference signal transmission time and reference signal intensity, utilize reference signal transmission time and reference signal intensity, can improve positioning accuracy, and then improve the degree of accuracy of the inbound navigation of unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of positioning and navigation, in particular to an unmanned aerial vehicle inbound navigation method and system.
Background
Unmanned autonomous docking refers to a process that an unmanned aerial vehicle arrives at an unmanned aerial vehicle maintenance station, stops to a designated position in a rotating mode and is captured by the unmanned aerial vehicle station. After the capture, subsequent automatic maintenance work such as automatic charging, automatic detection and the like can be carried out. The difficulty of the process is that the unmanned aerial vehicle obtains accurate three-dimensional coordinates and azimuth angles and is stabilized at the position. At present, the civilian level of satellite positioning technique can reach 2.5~10 meters, and bluetooth, RFID, WIFI location technique in addition also reach meter level positioning accuracy, can be used to unmanned aerial vehicle to find appointed maintenance station. However, the requirement of precise positioning cannot be met.
Disclosure of Invention
The embodiment of the invention provides an unmanned aerial vehicle inbound navigation method and system, aiming at solving the problems that the positioning precision of the existing unmanned aerial vehicle is low when the unmanned aerial vehicle is inbound, and the accuracy of the unmanned aerial vehicle inbound navigation is low.
In a first aspect, an embodiment of the present invention provides an unmanned aerial vehicle inbound navigation method, including the following steps:
acquiring a ground reference signal and a ground reference signal, wherein the ground reference signal is a signal transmitted by a reference signal generating device on a reference ground, and the ground reference signal is a signal transmitted by the reference signal generating device on the reference ground;
calculating to obtain reference signal transmission time and reference signal strength according to the ground reference signal and the ground reference signal;
and performing inbound navigation on the unmanned aerial vehicle according to the reference signal transmission time and the reference signal strength.
Optionally, the ground reference signal is a signal transmitted by the reference signal generating device every other first preset time, the ground reference signal is a signal transmitted by the reference signal generating device every other second preset time, the second preset time is an integer multiple of the first preset time, and the step of calculating to obtain the transmission time and the strength of the reference signal according to the ground reference signal and the ground reference signal includes:
processing the ground reference signal and the ground reference signal based on a phase shift detection method to obtain reference signal transmission time;
and processing the ground reference signal and the ground reference signal based on an envelope peak detection method to obtain the strength of the reference signal.
Optionally, the step of performing inbound navigation on the drone according to the reference signal transmission time and the reference signal strength includes:
calculating the distance between the unmanned aerial vehicle and the reference ground according to the transmission time of the reference signal and the transmission speed of the ground reference signal in the current environment;
positioning the unmanned aerial vehicle according to the distance between the unmanned aerial vehicle and a reference ground to obtain the position information of the unmanned aerial vehicle;
and performing inbound navigation on the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle and the strength of the reference signal.
Optionally, the step of positioning the unmanned aerial vehicle according to the distance between the unmanned aerial vehicle and the reference ground to obtain the position information of the unmanned aerial vehicle includes:
determining a coordinate set of the reference ground according to the position coordinates of the reference signal generating device;
and positioning the unmanned aerial vehicle according to the coordinate set of the reference ground and the distance between the unmanned aerial vehicle and the reference ground to obtain the position information of the unmanned aerial vehicle.
Optionally, the step of positioning the unmanned aerial vehicle according to the coordinate set of the reference ground and the distance between the unmanned aerial vehicle and the reference ground to obtain the position information of the unmanned aerial vehicle includes:
calculating a factor matrix equation of the coordinate set of the reference ground and the distance between the unmanned aerial vehicle and the reference ground, wherein the factor matrix equation comprises a coordinate matrix of the unmanned aerial vehicle;
resolving the factor matrix equation according to a least square method to obtain a coordinate matrix of the unmanned aerial vehicle;
and obtaining the position information of the unmanned aerial vehicle according to the coordinate matrix of the unmanned aerial vehicle.
In a second aspect, an embodiment of the present invention provides an unmanned aerial vehicle inbound navigation system, where the system includes: the system comprises an aerial device and a ground device, wherein the aerial device is arranged on an unmanned aerial vehicle, the ground device is arranged on an unmanned aerial vehicle base station, the ground device comprises a plurality of parking positions, each parking position is provided with a reference signal generating device and a reference signal generating device which are positioned on the same reference ground, the aerial device comprises a main controller, a reference signal receiving device and a reference signal receiving device, the main controller is used for acquiring ground reference signals received by the reference signal receiving devices and acquiring ground reference signals received by the reference signal devices, and the transmission time of the reference signals and the strength of the reference signals are obtained by resolving according to the ground reference signals and the ground reference signals; and performing inbound navigation on the unmanned aerial vehicle according to the reference signal transmission time and the reference signal strength.
In a third aspect, the present invention provides an unmanned aerial vehicle, comprising: the main controller is used for acquiring a ground reference signal received by the reference signal receiving device, acquiring a ground reference signal received by the reference signal device, and resolving to obtain reference signal transmission time and reference signal strength according to the ground reference signal and the ground reference signal; and performing inbound navigation on the unmanned aerial vehicle according to the reference signal transmission time and the reference signal strength.
In a fourth aspect, the invention provides an unmanned aerial vehicle base station, which comprises a plurality of stand positions, wherein each stand position is provided with a reference signal generating device and a reference signal generating device which are positioned on the same reference ground, the reference signal generating device is used for transmitting a ground reference signal, and the reference signal generating device is used for transmitting a ground reference signal, so that after the unmanned aerial vehicle acquires the ground reference signal and the ground reference signal, the transmission time of the reference signal and the strength of the reference signal are obtained by resolving according to the ground reference signal and the ground reference signal; and performing inbound navigation on the unmanned aerial vehicle according to the reference signal transmission time and the reference signal strength.
In a fifth aspect, the present invention provides an electronic device, comprising: the invention further provides a method for unmanned aerial vehicle inbound navigation, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor.
In a sixth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps in the unmanned aerial vehicle inbound navigation method provided in the embodiments of the present invention.
The method comprises the steps of obtaining a ground reference signal and a ground reference signal, wherein the ground reference signal is a signal emitted by a reference signal generating device on a reference ground, and the ground reference signal is a signal emitted by the reference signal generating device on the reference ground; calculating to obtain reference signal transmission time and reference signal strength according to the ground reference signal and the ground reference signal; and performing inbound navigation on the unmanned aerial vehicle according to the reference signal transmission time and the reference signal strength. Resolving through obtaining ground reference signal and ground reference signal, obtaining reference signal transmission time and reference signal intensity to can come to carry out inbound guide to unmanned aerial vehicle according to reference signal transmission time and reference signal intensity, utilize reference signal transmission time and reference signal intensity, can improve positioning accuracy, and then improve the accuracy of unmanned aerial vehicle inbound navigation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a ground device according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an aerial device according to an embodiment of the present invention;
fig. 3 is a structural diagram of a ground circuit board according to an embodiment of the present invention;
FIG. 4 is a block diagram of an aerial circuit board provided by an embodiment of the present invention;
fig. 5 is a schematic diagram of an unmanned aerial vehicle inbound navigation process provided by an embodiment of the present invention;
fig. 6 is a flowchart of an unmanned aerial vehicle inbound navigation method according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
The embodiment of the invention provides an unmanned aerial vehicle inbound navigation system, which comprises: aerial device and ground installation, above-mentioned aerial device sets up on unmanned aerial vehicle, and above-mentioned ground installation sets up at the unmanned aerial vehicle basic station.
The ground device comprises a plurality of parking positions, and each parking position is provided with a reference signal generating device and a reference signal generating device which are positioned on the same reference ground.
The aerial device comprises a main controller, a reference signal receiving device and a reference signal receiving device, wherein the main controller is used for acquiring a ground reference signal received by the reference signal receiving device and a ground reference signal received by the reference signal device, and resolving according to the ground reference signal and the ground reference signal to obtain reference signal transmission time and reference signal strength; and performing inbound navigation on the unmanned aerial vehicle according to the reference signal transmission time and the reference signal strength.
Furthermore, the number of the reference signal generating devices is one for each stand, and the number of the reference signal generating devices is one or more than one, for example, two or three, etc. for each stand. Preferably three embodiments of the present invention.
The reference signal generating device may be an ultrasonic transmitter, and the reference signal generating device may be a 433M radio transmitting module.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a ground device according to an embodiment of the present invention, as shown in fig. 1, the ground device includes a first base 1, a ground circuit board 2, a U-path ultrasonic transmitter and a first bracket 3, a V-path ultrasonic transmitter and a second bracket 4, and a W-path ultrasonic transmitter and a third bracket 5; the first base 1 is provided with a ground circuit board 2, a U-path ultrasonic transmitter and a first bracket 3, a V-path ultrasonic transmitter and a second bracket 4, and a W-path ultrasonic transmitter and a third bracket 5; the three ultrasonic transmitters are arranged in an equilateral triangle; the transmitting direction of the three ultrasonic transmitters forms an angle of 45 degrees with the base; the U-path ultrasonic transmitter, the V-path ultrasonic transmitter and the W-path ultrasonic transmitter are connected with the ground circuit board 2 through electric wires; the ground circuit board 2 comprises a main control module, an ultrasonic driving module and a 433M radio transmitting module.
Referring to fig. 2, fig. 2 is a schematic structural diagram of an aerial device according to an embodiment of the present invention, and as shown in fig. 2, the aerial device includes a second base 6, an aerial circuit board 7, a fourth support 8, a U-path ultrasonic receiving sensor 9, a V-path ultrasonic receiving sensor 10, a W-path ultrasonic receiving sensor 11, and binocular vision camera mounting locations 14 and 15; the included angles between the three mounting surfaces of the fourth bracket 8 and the second base 6 are 45 degrees; the U, V, W three-way ultrasonic receiving sensor is arranged at the center of the mounting surface of the fourth bracket 8, and the receiving direction forms an angle of 90 degrees with the second base; the aerial circuit board 7 comprises a main control module, an ultrasonic wave acquisition module, a GPS module, a 433M radio receiving module and a temperature measuring module.
Referring to fig. 3, fig. 3 is a structural diagram of a ground circuit board according to an embodiment of the present invention, as shown in fig. 3, the ground circuit board includes a controller and a transmitting circuit, where the controller includes a timing control module, an excitation signal generator, a reference signal generator, a serial port, and a General-purpose input/output port (GPIO), the timing control module is electrically connected to the excitation signal generator and the reference signal generator, respectively, and the transmitting circuit includes a U-path ultrasonic transmitter driving module, a V-path ultrasonic transmitter driving module, a W-path ultrasonic transmitter driving module, and a 433M radio transmitting module. The U-path ultrasonic transmitter driving module comprises a first amplifying circuit, the V-path ultrasonic transmitter driving module comprises a second amplifying circuit, the W-path ultrasonic transmitter driving module comprises a third amplifying circuit, and the 433M radio transmitting module comprises a fourth amplifying circuit and a 433M radio transmitter. The first amplifying circuit is electrically connected with the excitation signal generator through a serial port, amplifies the signals according to the output signals of the excitation signal generator, and inputs the amplified signals to the U-path ultrasonic transmitter; the second amplifying circuit is electrically connected with the excitation signal generator through a serial port, amplifies the signals according to the output signals of the excitation signal generator, and inputs the amplified signals to the V-path ultrasonic transmitter; the third amplifying circuit is electrically connected with the excitation signal generator through a serial port, amplifies the signals according to the output signals of the excitation signal generator, and inputs the amplified signals to the W-channel ultrasonic transmitter. The fourth amplifying circuit is electrically connected with the reference signal generator through a general purpose input/output port GPIO, and inputs the amplified reference signal to the 433M radio transmitter.
More specifically, the controller initializes a reference time t base The reference time is used as a reference signal transmission period, and the signal transmission time is modulated by timing control. Reference signal generator every t base Sending 1 byte code, wherein the code is the ID of the unmanned aerial vehicle base station, sending a reference signal, controlling a U-path ultrasonic transmitter to send 8 square waves of 40khz by an excitation signal generator, enabling the square waves to have a period of 25 microseconds, waiting for 8 periods, and excitingThe signal generator controls the V-path ultrasonic transmitter to send 8 square waves of 40khz, the square wave period is 25 microseconds, 8 periods are waited, the excitation signal generator controls the W-path ultrasonic transmitter to send 8 square waves of 40khz, the square wave period is 25 microseconds, and 8 periods are waited. The unmanned aerial vehicle base station can also be called an unmanned aerial vehicle maintenance station.
Referring to fig. 4, fig. 4 is a structural diagram of an aerial circuit board according to an embodiment of the present invention, and as shown in fig. 4, the aerial circuit board includes: the ultrasonic signal demodulation device comprises a signal conditioning circuit, an amplification demodulation circuit and a serial port of a digital signal processor, wherein the signal conditioning circuit is respectively electrically connected with a U-path ultrasonic receiving sensor, a V-path ultrasonic receiving sensor and a W-path ultrasonic receiving sensor and is used for demodulating ultrasonic signals emitted by U, V, W three paths of ultrasonic emitters. The amplifying and demodulating circuit is electrically connected with the 433M radio receiving module and used for amplifying and demodulating the ground reference signal received by the 433M radio receiving module, the signal conditioning circuit is electrically connected with an A/D acquisition port of the digital signal processor, and the amplifying and demodulating circuit is electrically connected with a general purpose type GPIO input/output port of the digital signal processor. The aerial circuit board also comprises a temperature measuring module and a GPS module, and the digital signal processor is also provided with a serial port electrically connected with the GPS module and an I2C port electrically connected with the temperature measuring module.
The digital signal processor is used for carrying out digital processing on the U, V, W three-way ultrasonic signals and the ground reference signal and outputting coordinates (x, y, z) of the unmanned aerial vehicle and signal intensity (E) of the U, V, W three-way ultrasonic signals U ，E V ，E W ) And then the signal intensity (E) of the three ultrasonic signals is U, V, W according to the coordinates (x, y, z) of the unmanned aerial vehicle U ，E V ，E W ) Inbound navigation is performed.
Specifically, the digital signal processor obtains the coordinate (x) with meter-level precision through the GPS module G ,y G ,z G ) And controlling the unmanned aerial vehicle to coordinate (x) according to meter-level precision G ,y G ,z G ) Finding the vicinity of the maintenance station, and then obtaining the centimeter-level coordinates (x, y, z) and the sum of the centimeter-level coordinates through the working mechanism of the ground device and the aerial deviceU, V, W signal strength (Eu, Ev, Ew) of three-way ultrasonic signal, centimeter-level coordinate (x, y, z) are used for the centimeter-level location of unmanned aerial vehicle, and signal strength (Eu, Ev, Ew) of U, V, W three-way ultrasonic signal is used for carrying out centimeter-level inbound navigation to unmanned aerial vehicle with centimeter-level coordinate (x, y, z) combination.
Referring to fig. 5, fig. 5 is a schematic diagram of an inbound navigation process of a drone according to an embodiment of the present invention, as shown in fig. 5, the shape of the aerial device is adapted to the shape of the ground device, and the U, V, W three-way ultrasonic transmitters respectively correspond to the U, V, W three-way ultrasonic receiving sensors, and maintain the signal strength (E) U ，E V ，E W ) Carry out flight control to unmanned aerial vehicle 12 under the equal condition for unmanned aerial vehicle 12 steadily descends at unmanned aerial vehicle basic station 13.
In the embodiment of the invention, by the unmanned aerial vehicle inbound navigation system, after the unmanned aerial vehicle is guided to the vicinity of the unmanned aerial vehicle base station or the designated position of the unmanned aerial vehicle base station through the GPS, centimeter-level coordinates (x, y, z) and signal strength (Eu, Ev, Ew) of U, V, W three-path ultrasonic signals can be obtained through the working mechanisms of the ground device and the aerial device, and centimeter-level inbound navigation is carried out on the unmanned aerial vehicle according to the signal strength (Eu, Ev, Ew) of U, V, W three-path ultrasonic signals and the centimeter-level coordinates (x, y, z), so that the position coordinate error of the unmanned aerial vehicle is reduced to centimeter level, and the inbound navigation accuracy is improved.
Referring to fig. 6, fig. 6 is a flowchart of an unmanned aerial vehicle inbound navigation method according to an embodiment of the present invention, where the unmanned aerial vehicle inbound navigation method is applied to an aerial device in the unmanned aerial vehicle inbound navigation system, and as shown in fig. 6, the unmanned aerial vehicle inbound navigation method includes the following steps:
601. and acquiring a ground reference signal and a ground reference signal.
In an embodiment of the present invention, the ground reference signal is a signal transmitted by a reference signal generating device on a reference ground, and the ground reference signal is a signal transmitted by the reference signal generating device on the reference ground.
Further, the reference signal generating device may be a reference signal generating device, and the reference signal generating device may be an ultrasonic transmitter.
Furthermore, the reference signal generating device is provided at each stand, and the reference signal generating device is provided at each stand by one or more than one, for example, two or three, etc. Preferably three embodiments of the present invention.
Specifically, the ground reference signals include U, V, W three ultrasonic signals, and the aerial device receives U, V, W three ultrasonic signals transmitted by the ultrasonic transmitter to obtain U, V, W three ultrasonic signals.
602. And resolving to obtain the transmission time of the reference signal and the strength of the reference signal according to the ground reference signal and the ground reference signal.
In the embodiment of the present invention, the phase offset of the signal may be calculated according to the ground reference signal, and the signal transmission time of the ground reference signal may be calculated according to the calculated phase offset.
The peak value of the ground reference signal can be obtained as the reference signal strength by filtering the ground reference signal.
603. And performing inbound navigation on the unmanned aerial vehicle according to the reference signal transmission time and the reference signal strength.
In the embodiment of the invention, the distance between the unmanned aerial vehicle and the reference ground can be calculated according to the signal transmission time of the ground reference signal, and the position of the unmanned aerial vehicle is calculated according to the distance and the coordinate set of the reference ground.
After obtaining unmanned aerial vehicle's position to keep reference signal intensity the same as the condition, carry out flight control to unmanned aerial vehicle, it is the same to keep reference signal intensity, and under the condition of signal intensity reinforcing, make unmanned aerial vehicle stably descend to ground device, thereby accomplish inbound navigation.
In the embodiment of the invention, a ground reference signal and a ground reference signal are obtained, wherein the ground reference signal is a signal emitted by a reference signal generating device on a reference ground, and the ground reference signal is a signal emitted by the reference signal generating device on the reference ground; calculating to obtain reference signal transmission time and reference signal strength according to the ground reference signal and the ground reference signal; and performing inbound navigation on the unmanned aerial vehicle according to the reference signal transmission time and the reference signal strength. Resolving through obtaining ground reference signal and ground reference signal, obtaining reference signal transmission time and reference signal intensity to can come to carry out inbound guide to unmanned aerial vehicle according to reference signal transmission time and reference signal intensity, utilize reference signal transmission time and reference signal intensity, can improve positioning accuracy, and then improve the accuracy of unmanned aerial vehicle inbound navigation.
Optionally, the ground reference signal is a signal transmitted by the reference signal generating device every other first preset time, the ground reference signal is a signal transmitted by the reference signal generating device every other second preset time, the second preset time is an integral multiple of the first preset time, and in the step of obtaining the reference signal transmission time and the reference signal intensity by resolving according to the ground reference signal and the ground reference signal, the ground reference signal and the ground reference signal may be processed based on a phase shift detection method to obtain the reference signal transmission time; and processing the ground reference signal and the ground reference signal based on an envelope peak detection method to obtain the strength of the reference signal.
Specifically, the first preset time may be a reference time, the second preset time may be n times the reference time, and every other reference time is referred to as a period or a reference period.
More specifically, the ground device initializes a reference time t base The reference time is used as a reference signal transmission period, and the signal transmission time is modulated by timing control. Reference signal generator every t base Sending 1 byte code, wherein the code is the ID of an unmanned aerial vehicle base station or the ID of a parking space, and sending a ground reference signal, controlling a U-path ultrasonic transmitter to send 8 square waves of 40khz by an excitation signal generator, waiting for 8 periods, controlling a V-path ultrasonic transmitter to send 8 square waves of 40khz by the excitation signal generator, waiting for 8 periods, controlling a W-path ultrasonic transmitter to send 8 square waves of 40khz by the excitation signal generator, and waiting for 8 periods.
Go toStep one, in the reference signal transmission time obtained by the phase shift detection method, intercepting each reference period signal, performing Fast Fourier Transform (FFT), and according to the threshold value w th Obtaining the phase shift, and calculating U, V, W the reference signal transmission time (t) of the three ultrasonic signals according to the phase shift u ,t v ,t w )。
In the process of obtaining the reference signal intensity through an envelope peak detection method, intercepting signals of each basic period, carrying out 35 kHz-45 kHz band-pass filtering to obtain envelope signals, and then carrying out peak detection to obtain the reference signal intensity (Eu, Ev, Ew) of U, V, W three-path ultrasonic signals.
Optionally, in the step of performing inbound navigation on the unmanned aerial vehicle according to the reference signal transmission time and the reference signal strength, the distance between the unmanned aerial vehicle and the reference ground may be calculated according to the reference signal transmission time and the transmission speed of the ground reference signal in the current environment; positioning the unmanned aerial vehicle according to the distance between the unmanned aerial vehicle and the reference ground to obtain the position information of the unmanned aerial vehicle; and performing inbound navigation on the unmanned aerial vehicle according to the position information and the reference signal strength of the unmanned aerial vehicle.
In the embodiment of the invention, the shape of the aerial device is matched with that of the ground device, and the U, V, W three-way ultrasonic transmitters respectively correspond to U, V, W three-way ultrasonic receiving sensors, so that the signal strength is kept (E) U ，E V ，E W ) Carry out flight control to unmanned aerial vehicle under the condition that equals for unmanned aerial vehicle steadily descends in the unmanned aerial vehicle basic station.
The reference ground can be determined by U, V, W coordinates of the three-way ultrasonic transmitter.
The transmission speed of the current environment may be a transmission speed of the current temperature condition, the current temperature T may be measured by a temperature measurement module of the aerial device, and the signal transmission speed V of the current temperature T may be calculated according to the following equation T ：
Wherein T is whenFront temperature, above V T Is the speed of sound at the current temperature T.
On the basis of the coordinates of the reference ground, the coordinates Drone (x, y, z) of the Drone can be obtained by combining the distance between the Drone and the U, V, W three-way ultrasonic transmitter.
Specifically, can be after guiding unmanned aerial vehicle near the unmanned aerial vehicle basic station or unmanned aerial vehicle basic station assigned position through GPS, the signal strength (Eu, Ev, Ew) of centimetre level coordinate (x, y, z) and U, V, W three routes ultrasonic signal is obtained to the after-mentioned operating mechanism through ground device and aerial device, signal strength (Eu, Ev, Ew) and centimetre level coordinate (x, y, z) according to U, V, W three routes ultrasonic signal come to carry out the inbound navigation of centimetre level to unmanned aerial vehicle, make unmanned aerial vehicle position coordinate error reduce to the centimetre level, improve the accuracy of inbound navigation.
Optionally, in the step of positioning the unmanned aerial vehicle according to the distance between the unmanned aerial vehicle and the reference ground to obtain the position information of the unmanned aerial vehicle, a coordinate set of the reference ground may be determined according to the position coordinates of the reference signal generating device; and positioning the unmanned aerial vehicle according to the coordinate set of the reference ground and the distance between the unmanned aerial vehicle and the reference ground to obtain the position information of the unmanned aerial vehicle.
Specifically, let coordinates of the unmanned aerial vehicle to be positioned be Drone (x, y, z), and coordinates of U, V, W three-way ultrasonic transmitter be U (x) 1 ,y 1 ,z 1 )、V(x 2 ,y 2 ,z 2 )、W(x 3 ,y 3 ,z 3 ) The signal arrival time difference of (c). The measured reference signal transmission time is (t) u ,t v ,t w ) If the distances between the unmanned plane and the U, V, W three paths of ultrasonic transmitters are d respectively 1 =V T *t u ，d 2 =V T *t v ，d 3 =V T *t w . The following equation holds:
by the above equation, the coordinates of the Drone (x, y, z) can be solved.
Optionally, in the step of positioning the unmanned aerial vehicle according to the coordinate set of the reference ground and the distance between the unmanned aerial vehicle and the reference ground to obtain the position information of the unmanned aerial vehicle, a factor matrix equation of the coordinate set of the reference ground and the distance between the unmanned aerial vehicle and the reference ground may be calculated, where the factor matrix equation includes a coordinate matrix of the unmanned aerial vehicle; resolving a factor matrix equation according to a least square method to obtain a coordinate matrix of the unmanned aerial vehicle; and obtaining the position information of the unmanned aerial vehicle according to the coordinate matrix of the unmanned aerial vehicle.
Specifically, since the U, V, W three-way ultrasonic emitters are coplanar, the ultrasonic emitter array has a simple structurez 1 =z 2 =z 3 The plane of the ground three-path ultrasonic transmitter is used as a reference plane, so that the plane can be used forz=0, the above equation (2) is simplified to obtain a factor matrix equation of the distance between the coordinate set of the reference ground and the unmanned aerial vehicle and the reference ground as shown in the following equation:
VX=Q （3）
wherein the factor matrixVAs follows:
above-mentioned unmanned aerial vehicle's coordinate matrixXAs follows:
the result matrixQAs follows:
specifically, the aboveVAndQcan be obtained by constructing according to the coordinate set of the reference ground and the distance between the unmanned aerial vehicle and the reference ground,Xis solved with a minimumAnd (4) two multiplications. The residual error can be defined according to the above formularAs shown in the following equation:
r=Q−VX （7）
let the residual squared be:
f(X)=r 2 =(Q−VX) 2 =(Q−VX) T (Q−VX) （8）
to findf(X) Minimum value:
can be solved to obtain:
X=(V T V) −1 V T Q （10）
solve to get unmanned aerial vehicle's coordinate matrixXThen, the Drone coordinates Drone (x, y, z) are obtained.
In the embodiment of the invention, the ground reference signal and the ground reference signal are obtained for resolving to obtain the reference signal transmission time and the reference signal strength, so that the unmanned aerial vehicle can be guided to enter according to the reference signal transmission time and the reference signal strength, and the positioning precision can be improved by utilizing the reference signal transmission time and the reference signal strength, thereby improving the accuracy of the unmanned aerial vehicle in-bound navigation.
Optionally, an embodiment of the present invention provides an unmanned aerial vehicle, including: the main controller is used for acquiring a ground reference signal received by the reference signal receiving device, acquiring a ground reference signal received by the reference signal device, and resolving to obtain reference signal transmission time and reference signal strength according to the ground reference signal and the ground reference signal; and performing inbound navigation on the unmanned aerial vehicle according to the reference signal transmission time and the reference signal strength.
Specifically, the unmanned aerial vehicle may implement the steps of the inbound navigation method for any unmanned aerial vehicle in the above embodiments through the master controller.
Optionally, an embodiment of the present invention provides an unmanned aerial vehicle base station, which includes a plurality of stand positions, each stand position is provided with a reference signal generating device and a reference signal generating device that are located on the same reference ground, the reference signal generating device is configured to transmit a ground reference signal, and the reference signal generating device is configured to transmit a ground reference signal, so that after the unmanned aerial vehicle acquires the ground reference signal and the ground reference signal, the unmanned aerial vehicle resolves to obtain reference signal transmission time and reference signal strength according to the ground reference signal and the ground reference signal; and performing inbound navigation on the unmanned aerial vehicle according to the reference signal transmission time and the reference signal strength.
Specifically, the unmanned aerial vehicle base station may implement the steps of any unmanned aerial vehicle inbound navigation method in the above embodiments through the master controller.
It should be noted that the unmanned aerial vehicle inbound navigation system provided by the embodiment of the present invention may be applied to devices such as a smart phone, a computer, and a server that can perform unmanned aerial vehicle inbound navigation.
The unmanned aerial vehicle inbound navigation system provided by the embodiment of the invention can realize each process realized by the unmanned aerial vehicle inbound navigation method in the method embodiment, and can achieve the same beneficial effect. To avoid repetition, further description is omitted here.
Referring to fig. 7, fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, as shown in fig. 7, including: memory 802, processor 701, and a computer program of a drone inbound navigation method stored on memory 802 and executable on processor 701, wherein:
the processor 701 is configured to call the computer program stored in the memory 802, and perform the following steps:
acquiring a ground reference signal and a ground reference signal, wherein the ground reference signal is a signal transmitted by a reference signal generating device on a reference ground, and the ground reference signal is a signal transmitted by the reference signal generating device on the reference ground;
calculating to obtain reference signal transmission time and reference signal strength according to the ground reference signal and the ground reference signal;
and performing inbound navigation on the unmanned aerial vehicle according to the reference signal transmission time and the reference signal strength.
Optionally, the step of calculating, by the processor 701, to obtain the transmission time of the reference signal and the strength of the reference signal according to the ground reference signal and the ground reference signal includes:
processing the ground reference signal and the ground reference signal based on a phase shift detection method to obtain reference signal transmission time;
and processing the ground reference signal and the ground reference signal based on an envelope peak detection method to obtain the strength of the reference signal.
Optionally, the step of performing inbound navigation on the drone according to the reference signal transmission time and the reference signal strength, which is executed by the processor 701, includes:
calculating the distance between the unmanned aerial vehicle and the reference ground according to the transmission time of the reference signal and the transmission speed of the ground reference signal in the current environment;
positioning the unmanned aerial vehicle according to the distance between the unmanned aerial vehicle and the reference ground to obtain the position information of the unmanned aerial vehicle;
and performing inbound navigation on the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle and the strength of the reference signal.
Optionally, the step of positioning the drone according to the distance between the drone and the reference ground, executed by the processor 701, to obtain the position information of the drone includes:
determining a coordinate set of the reference ground according to the position coordinates of the reference signal generating device;
and positioning the unmanned aerial vehicle according to the coordinate set of the reference ground and the distance between the unmanned aerial vehicle and the reference ground to obtain the position information of the unmanned aerial vehicle.
Optionally, the step of positioning the unmanned aerial vehicle according to the coordinate set of the reference ground and the distance between the unmanned aerial vehicle and the reference ground, which is executed by the processor 701, to obtain the position information of the unmanned aerial vehicle includes:
calculating a factor matrix equation of the coordinate set of the reference ground and the distance between the unmanned aerial vehicle and the reference ground, wherein the factor matrix equation comprises a coordinate matrix of the unmanned aerial vehicle;
resolving the factor matrix equation according to a least square method to obtain a coordinate matrix of the unmanned aerial vehicle;
and obtaining the position information of the unmanned aerial vehicle according to the coordinate matrix of the unmanned aerial vehicle.
In the embodiment of the invention, the reference signal transmission time and the reference signal strength can be obtained by obtaining the ground reference signal and the ground reference signal for resolving, so that the unmanned aerial vehicle can be guided to enter according to the reference signal transmission time and the reference signal strength, and the positioning precision can be improved by utilizing the reference signal transmission time and the reference signal strength, thereby improving the accuracy of the unmanned aerial vehicle to enter for navigation.
It should be noted that the electronic device provided by the embodiment of the present invention may be applied to a smart phone, a computer, a server, and other devices that can perform inbound navigation of an unmanned aerial vehicle.
The electronic equipment provided by the embodiment of the invention can realize each process realized by the unmanned aerial vehicle inbound navigation method in the method embodiment, and can achieve the same beneficial effect. To avoid repetition, further description is omitted here.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when executed by a processor, the computer program implements each process of the unmanned aerial vehicle inbound navigation method or the application-side unmanned aerial vehicle inbound navigation method provided in the embodiment of the present invention, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by a computer program that instructs the associated hardware to perform the processes, and the computer program may be stored in a computer readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above description is only for the preferred embodiment of the present invention, and it is needless to say that the scope of the present invention is not limited by the above description, and therefore, the present invention is covered by the claims and the equivalent changes made thereto.
Claims (10)
1. An unmanned aerial vehicle inbound navigation method is characterized in that the method is applied to navigation of an unmanned aerial vehicle entering a base station, and comprises the following steps:
acquiring a ground reference signal and a ground reference signal, wherein the ground reference signal is a signal transmitted by a reference signal generating device on a reference ground, and the ground reference signal is a signal transmitted by the reference signal generating device on the reference ground;
calculating to obtain reference signal transmission time and reference signal strength according to the ground reference signal and the ground reference signal;
and performing inbound navigation on the unmanned aerial vehicle according to the reference signal transmission time and the reference signal strength.
2. The method according to claim 1, wherein the ground reference signal is a signal transmitted by the reference signal generating device every a first preset time, the ground reference signal is a signal transmitted by the reference signal generating device every a second preset time, the second preset time is an integral multiple of the first preset time, and the step of calculating the transmission time and the strength of the reference signal according to the ground reference signal and the ground reference signal comprises:
processing the ground reference signal and the ground reference signal based on a phase shift detection method to obtain reference signal transmission time;
and processing the ground reference signal and the ground reference signal based on an envelope peak detection method to obtain the strength of the reference signal.
3. The method of claim 2, wherein the step of inbound navigating the drone according to the reference signal transmission time and reference signal strength comprises:
calculating the distance between the unmanned aerial vehicle and the reference ground according to the transmission time of the reference signal and the transmission speed of the ground reference signal in the current environment;
positioning the unmanned aerial vehicle according to the distance between the unmanned aerial vehicle and a reference ground to obtain the position information of the unmanned aerial vehicle;
and performing inbound navigation on the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle and the strength of the reference signal.
4. The method of claim 3, wherein the step of locating the drone as a function of its distance from a reference ground comprises:
determining a coordinate set of the reference ground according to the position coordinates of the reference signal generating device;
and positioning the unmanned aerial vehicle according to the coordinate set of the reference ground and the distance between the unmanned aerial vehicle and the reference ground to obtain the position information of the unmanned aerial vehicle.
5. The method of claim 4, wherein the positioning of the drone according to the set of coordinates of the reference ground and the distance of the drone from the reference ground, the obtaining of the position information of the drone comprises:
calculating a factor matrix equation of the coordinate set of the reference ground and the distance between the unmanned aerial vehicle and the reference ground, wherein the factor matrix equation comprises a coordinate matrix of the unmanned aerial vehicle;
resolving the factor matrix equation according to a least square method to obtain a coordinate matrix of the unmanned aerial vehicle;
and obtaining the position information of the unmanned aerial vehicle according to the coordinate matrix of the unmanned aerial vehicle.
6. An unmanned aerial vehicle inbound navigation system, comprising: the system comprises an aerial device and a ground device, wherein the aerial device is arranged on an unmanned aerial vehicle, the ground device is arranged on an unmanned aerial vehicle base station, the ground device comprises a plurality of parking positions, each parking position is provided with a reference signal generating device and a reference signal generating device which are positioned on the same reference ground, the aerial device comprises a main controller, a reference signal receiving device and a reference signal receiving device, the main controller is used for acquiring ground reference signals received by the reference signal receiving devices and acquiring ground reference signals received by the reference signal devices, and the transmission time of the reference signals and the strength of the reference signals are obtained by resolving according to the ground reference signals and the ground reference signals; and performing inbound navigation on the unmanned aerial vehicle according to the reference signal transmission time and the reference signal strength.
7. An unmanned aerial vehicle, comprising: the main controller is used for acquiring a ground reference signal received by the reference signal receiving device, acquiring a ground reference signal received by the reference signal device, and resolving to obtain reference signal transmission time and reference signal strength according to the ground reference signal and the ground reference signal; and performing inbound navigation on the unmanned aerial vehicle according to the reference signal transmission time and the reference signal strength.
8. An unmanned aerial vehicle basic station, its characterized in that includes: the system comprises a plurality of parking positions, a reference signal generating device and a reference signal generating device, wherein the reference signal generating device and the reference signal generating device are arranged on the same reference ground, the reference signal generating device is used for transmitting a ground reference signal, and the reference signal generating device is used for transmitting a ground reference signal, so that after an unmanned aerial vehicle acquires the ground reference signal and the ground reference signal, the unmanned aerial vehicle resolves the ground reference signal and the ground reference signal to obtain reference signal transmission time and reference signal strength; and performing inbound navigation on the unmanned aerial vehicle according to the reference signal transmission time and the reference signal strength.
9. An electronic device, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the processor when executing the computer program implementing the steps in the drone inbound navigation method of any one of claims 1 to 5.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps in the drone inbound navigation method of any one of claims 1 to 5.
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