CN115421507A - Method and equipment for positioning unmanned aerial vehicle flyer in multipoint intersection manner - Google Patents
Method and equipment for positioning unmanned aerial vehicle flyer in multipoint intersection manner Download PDFInfo
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Abstract
The invention discloses a method and equipment for positioning a pilot of an unmanned aerial vehicle in a multipoint crossing manner, wherein the method comprises the steps of acquiring flight information of a target unmanned aerial vehicle through detection equipment; planning a first flight track of the scout plane of one party based on the flight position information and the flight track information; when the scout plane reaches the first flight track end point, acquiring a first direction of a pilot signal source of the target unmanned aerial vehicle, and planning a second flight track of the scout plane based on the pilot signal source; when the reconnaissance aircraft is at the end point of the second flight track, acquiring a second direction of the target unmanned aerial vehicle flyer signal source, sending an interference signal to the target unmanned aerial vehicle by an interference system to force the target unmanned aerial vehicle to return, and acquiring the return track of the target unmanned aerial vehicle by detection equipment; and obtaining the position of the flying hand based on the first direction, the second direction and the return flight track of the target unmanned aerial vehicle. The positioning accuracy is high, and the cost is reduced.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicle flyer positioning, in particular to a method and equipment for multipoint cross positioning of unmanned aerial vehicle flyers.
Background
With the development of times, more and more unmanned aerial vehicles are put into the market, but the situation of black flight is more and more serious, the aerial safety is damaged, and the positioning of the flying hands of the unmanned aerial vehicles is urgent. In the existing flyer positioning technology, a plurality of unmanned aerial vehicles are mostly used for planning paths, complex calculation is carried out again to find the position of the flyer, and the positioning precision is poor and is easily influenced by environmental factors.
Therefore, how to avoid complex calculation and improve the positioning accuracy is a technical problem to be solved at present.
Disclosure of Invention
The invention provides a method for positioning a pilot of an unmanned aerial vehicle in a multipoint crossing manner, which is used for solving the technical problem that in the prior art, the pilot needs a plurality of unmanned aerial vehicles to fly and perform complex calculation. The method comprises the following steps:
acquiring flight information of a target unmanned aerial vehicle through detection equipment, wherein the flight information comprises flight angle information, flight speed information, flight position information and flight track information;
planning a first flight track of a scout of one party based on the flight position information and the flight track information, wherein the scout acquires real-time communication signals of the target unmanned aerial vehicle on the way of the first flight track, and the real-time communication signals comprise uplink signals and downlink signals;
when the scout plane reaches the first flight track end point, starting a radio detection device, acquiring a first direction of a target unmanned aerial vehicle flyer signal source, and planning a second flight track of the scout plane based on the flyer signal source;
when the reconnaissance plane is at the end point of the second flight track, the radio detection equipment is started again to obtain a second direction of the signal source of the pilot of the target unmanned aerial vehicle, an interference system sends an interference signal to the target unmanned aerial vehicle based on the corrected position information, the flight angle information and the flight speed information of the target unmanned aerial vehicle, the communication between the target unmanned aerial vehicle and the pilot is cut off, the target unmanned aerial vehicle is forced to return, and the detection equipment obtains the return track of the target unmanned aerial vehicle;
and obtaining the position of the flying hand based on the first direction, the second direction and the return flight track of the target unmanned aerial vehicle.
In some embodiments of the present application, the method further comprises:
on the way of the first flight track, the scout of the client flies along with the target unmanned aerial vehicle, and the scout does not collide with the target unmanned aerial vehicle, or the first flight track does not intersect or coincide with the flight track of the target unmanned aerial vehicle.
In some embodiments of the present application, the method further comprises:
and obtaining the position information of the corrected target unmanned aerial vehicle based on the flight position information, the flight track information and the downlink signal.
In some embodiments of this application, acquire the first direction of target unmanned aerial vehicle flight hand signal source specifically is:
acquiring a first direction of a target unmanned aerial vehicle pilot signal source according to the uplink signal and the detection of the radio detection equipment;
the first direction and the second direction are both directions of the detecting unmanned aerial vehicle head towards the flying hand signal source.
In some embodiments of the present application, a position of the flying hand is obtained based on the first direction, the second direction and the return trajectory of the target unmanned aerial vehicle, specifically:
and calculating the intersection point of the first direction, the second direction and the extension line of the return trajectory of the target unmanned aerial vehicle, wherein the intersection point is the position of the flyer.
Correspondingly, the invention also provides equipment for positioning the flyer of the unmanned aerial vehicle at multiple points in a crossing manner, which comprises:
the first acquisition module is used for acquiring flight information of the target unmanned aerial vehicle through the detection equipment, wherein the flight information comprises flight angle information, flight speed information, flight position information and flight track information;
the second obtaining module is used for planning a first flight track of a scout of one party based on the flight position information and the flight track information, the scout obtains real-time communication signals of the target unmanned aerial vehicle on the way of the first flight track, and the real-time communication signals comprise uplink signals and downlink signals;
the first detection module is used for starting radio detection equipment when the scout plane reaches the first flight track end point, acquiring a first direction of a target unmanned plane flight hand signal source, and planning a second flight track of the scout plane based on the flight hand signal source;
the second detection module is used for starting the radio detection equipment again when the reconnaissance aircraft is at the end point of the second flight track, acquiring the second direction of the signal source of the target unmanned aerial vehicle, sending an interference signal to the target unmanned aerial vehicle based on the corrected position information, the flight angle information and the flight speed information of the target unmanned aerial vehicle by the interference system, cutting off the communication between the target unmanned aerial vehicle and the flight arm, forcing the target unmanned aerial vehicle to return, and acquiring the return track of the target unmanned aerial vehicle by the detection equipment;
and the positioning module is used for obtaining the position of the flyer based on the first direction, the second direction and the return trajectory of the target unmanned aerial vehicle.
In some embodiments of the present application, the apparatus further comprises a planning module configured to:
on the way of the first flight track, the scout of the client flies along with the target unmanned aerial vehicle, and the scout does not collide with the target unmanned aerial vehicle, or the first flight track does not intersect or coincide with the flight track of the target unmanned aerial vehicle.
In some embodiments of the present application, the apparatus further comprises a modification module configured to:
and obtaining the position information of the corrected target unmanned aerial vehicle based on the flight position information, the flight track information and the downlink signal.
In some embodiments of the present application, the first detecting module is specifically configured to:
obtaining a first direction of a target unmanned aerial vehicle flyer signal source according to the uplink signal and the detection of the radio detection equipment;
the first direction and the second direction are both directions of the detection unmanned aerial vehicle head towards the flying hand signal source.
In some embodiments of the present application, the positioning module is specifically configured to:
and measuring and calculating the intersection point of the first direction, the second direction and the extension line of the return trajectory of the target unmanned aerial vehicle, wherein the intersection point is the position of the flyer.
By applying the technical scheme, the flight information of the target unmanned aerial vehicle is acquired through the detection equipment, wherein the flight information comprises flight angle information, flight speed information, flight position information and flight track information; planning a first flight track of a scout of one party based on the flight position information and the flight track information, wherein the scout acquires real-time communication signals of the target unmanned aerial vehicle on the way of the first flight track, and the real-time communication signals comprise uplink signals and downlink signals; when the scout plane reaches the first flight track end point, starting a radio detection device, acquiring a first direction of a target unmanned aerial vehicle flyer signal source, and planning a second flight track of the scout plane based on the flyer signal source; when the reconnaissance aircraft is at the end point of the second flight track, the radio detection equipment is started again to obtain a second direction of the signal source of the target unmanned aerial vehicle, an interference system sends an interference signal to the target unmanned aerial vehicle based on the corrected position information, the flight angle information and the flight speed information of the target unmanned aerial vehicle, the communication between the target unmanned aerial vehicle and the flight handle is cut off, the target unmanned aerial vehicle is forced to return, and the detection equipment obtains the return track of the target unmanned aerial vehicle; and obtaining the position of the flyer based on the first direction, the second direction and the return trajectory of the target unmanned aerial vehicle. The method plans the flight track of the unmanned aerial vehicle of the owner by detecting the flight information of the target unmanned aerial vehicle, receives the real-time communication signal of the target unmanned aerial vehicle, obtains a first direction and a second direction based on the flight information, cuts off the communication of the target unmanned aerial vehicle, forces the target unmanned aerial vehicle to return to the air, obtains a return track, calculates the intersection points of the first direction, the second direction and the extension lines of the return track, and obtains the position of the pilot. A large amount of tedious calculation processes are saved, the positioning accuracy is high, a plurality of detecting unmanned aerial vehicles are not needed to operate, a single unmanned aerial vehicle can complete, and the cost is reduced. And the position of the unmanned aerial vehicle is corrected according to the uplink signal and the downlink signal of the target unmanned aerial vehicle, so that the error is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 shows a schematic flow chart of a method for positioning a drone flyer at multiple points in a cross manner according to an embodiment of the present invention;
fig. 2 shows a schematic structural diagram of an apparatus for positioning a drone flyer at multiple points in a crossing manner according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Example 1
The application provides a method for multipoint cross positioning of unmanned aerial vehicle flyers, as shown in fig. 1, the method comprises the following steps:
step S101, acquiring flight information of a target unmanned aerial vehicle through detection equipment, wherein the flight information comprises flight angle information, flight speed information, flight position information and flight track information;
step S102, planning a first flight track of a scout of one party based on the flight position information and the flight track information, wherein the scout acquires real-time communication signals of the target unmanned aerial vehicle on the way of the first flight track, and the real-time communication signals comprise uplink signals and downlink signals;
step S103, when the scout plane reaches the first flight track end point, starting a radio detection device, acquiring a first direction of a target unmanned aerial vehicle flight hand signal source, and planning a second flight track of the scout plane based on the flight hand signal source;
step S104, when the reconnaissance aircraft is at the end point of the secondary flight track, starting the radio detection equipment again to obtain a second direction of a signal source of a target unmanned aerial vehicle hand, sending an interference signal to the target unmanned aerial vehicle based on the corrected position information, the flight angle information and the flight speed information of the target unmanned aerial vehicle by an interference system, cutting off the communication between the target unmanned aerial vehicle and the hand, forcing the target unmanned aerial vehicle to return, and obtaining the return track of the target unmanned aerial vehicle by the detection equipment;
and S105, obtaining the position of the flyer based on the first direction, the second direction and the return trajectory of the target unmanned aerial vehicle.
In step S101, flight information of the target drone is obtained through the detection device, where the flight information includes flight angle information, flight speed information, flight position information, and flight trajectory information.
In this embodiment, through detection equipment such as radars obtain target unmanned aerial vehicle's flight information, wherein the flight information includes target unmanned aerial vehicle flight angle information, target unmanned aerial vehicle flight speed information, target unmanned aerial vehicle flight position information and target unmanned aerial vehicle flight orbit information, wherein flight angle information, flight speed information and flight position information are target unmanned aerial vehicle real-time information.
It can be understood that the detection device is not limited to a radar, and any device or device capable of acquiring the above-mentioned relevant information of the unmanned aerial vehicle is within the protection scope of the present application.
In step S102, a first flight trajectory of a scout of one party is planned based on the flight position information and the flight trajectory information, the scout acquires a real-time communication signal of the target unmanned aerial vehicle on the way of the first flight trajectory, and the real-time communication signal includes an uplink signal and a downlink signal.
In this embodiment, the first flight trajectory of the scout of the same party is planned according to the flight position information and the flight trajectory information of the target unmanned aerial vehicle, the radio acquisition device is installed on the scout, and the scout follows the target unmanned aerial vehicle and acquires the uplink signal and the downlink signal of the target unmanned aerial vehicle. Wherein, radio acquisition or detecting equipment is through descending signal positioning unmanned aerial vehicle's position, through ascending signal positioning flyer (unmanned aerial vehicle control terminal) position, but because the signal that goes upward receives external environment easily to disturb, often only by the flyer position of going upward signal positioning inaccurate.
In order to improve the accuracy of acquiring signals, in some embodiments of the present application, on the way of the first flight trajectory, the scout of the own flies along with the target unmanned aerial vehicle, and the scout does not collide with the target unmanned aerial vehicle, or the first flight trajectory does not intersect or coincide with the flight trajectory of the target unmanned aerial vehicle. Therefore, the uplink signal and the downlink signal of the target unmanned aerial vehicle can be accurately acquired.
In order to improve the position accuracy of the target unmanned aerial vehicle, in some embodiments of the present application, the position information of the target unmanned aerial vehicle after correction is obtained based on the flight position information, the flight trajectory information, and the downlink signal.
In this embodiment, the position information of the target unmanned aerial vehicle is corrected according to the flight position information, the flight trajectory information, and the downlink signal, so as to obtain the corrected position information of the target unmanned aerial vehicle. Therefore, the deviation degree of the position information acquired by the radar detection equipment can be reduced, and the obtained position of the unmanned aerial vehicle is more accurate.
In step S103, when the scout reaches the first flight trajectory end point, the radio detection device is turned on to obtain the first direction of the target drone flight-hand signal source, and the second flight trajectory of the scout is planned based on the flight-hand signal source.
In some embodiments of the present application, a first direction of the drone signal source of the target drone is obtained according to the uplink signal and the detection of the radio detection device.
In this embodiment, the signal direction is corrected by the uplink signal of the target unmanned aerial vehicle and the pilot signal source detected by the radio detection device, so as to obtain the first direction of the pilot signal source of the target unmanned aerial vehicle. The first direction is the direction of the head of the detection unmanned aerial vehicle towards the signal source of the flying hand. On the basis of the uplink signal and the detected signal source, the signal direction is corrected, and errors are reduced. And planning a second flight track of the scout according to the flight hand signal source, wherein the second flight track flies around the flight hand signal source.
In step S104, when the reconnaissance aircraft is at the end of the second flight trajectory, the radio detection device is turned on again to obtain the second direction of the signal source of the target drone, the interference system sends an interference signal to the target drone based on the corrected position information of the target drone, the flight angle information, and the flight speed information, the communication between the target drone and the flier is cut off, the target drone is forced to return, and the detection device obtains the return trajectory of the target drone.
In this embodiment, when the scout aircraft is at the end of the second flight trajectory, the radio detection device installed on the scout aircraft is turned on, and the TDOA radio detection or the AOA radio detection can be selected as the radio detection device. And correcting the signal direction through the uplink signal of the target unmanned aerial vehicle and the flyer signal source detected by the radio detection equipment to obtain a second direction of the flyer signal source of the target unmanned aerial vehicle, wherein the second direction is the direction of the head of the detection unmanned aerial vehicle towards the flyer signal source. Through the target unmanned aerial vehicle position information after the correction the flight angle information with flight speed information interference system to target unmanned aerial vehicle sends interfering signal to cut off the communication of unmanned aerial vehicle and flight person, force unmanned aerial vehicle to fly back. Most unmanned aerial vehicles can be provided with emergency programs which can be automatically flown back to the flying hand position (control end) by the unmanned aerial vehicle when signals are interrupted before factory setting or flying. And the TDOA detection system or the AOA detection system acquires the return flight track of the target unmanned aerial vehicle flying back to the flyer.
In step S105, a position of the flying hand is obtained based on the first direction, the second direction, and the return trajectory of the target drone.
In order to improve the accuracy of acquiring the position of the flying hand, in some embodiments of the present application, an intersection point of the extension lines of the first direction, the second direction and the return trajectory of the target unmanned aerial vehicle is measured, and the intersection point is the position of the flying hand.
In this embodiment, according to the acquired first direction, the second direction and the return trajectory of the target unmanned aerial vehicle, the processing system measures and calculates the extension lines of the first direction, the second direction and the return trajectory of the target unmanned aerial vehicle, and the intersection point of the three extension lines is the position of the unmanned aerial vehicle flyer.
By applying the technical scheme, the flight information of the target unmanned aerial vehicle is acquired through the detection equipment, wherein the flight information comprises flight angle information, flight speed information, flight position information and flight track information; planning a first flight track of a scout of one party based on the flight position information and the flight track information, wherein the scout acquires real-time communication signals of the target unmanned aerial vehicle on the way of the first flight track, and the real-time communication signals comprise uplink signals and downlink signals; when the scout plane reaches the first flight track end point, starting a radio detection device, acquiring a first direction of a target unmanned aerial vehicle flyer signal source, and planning a second flight track of the scout plane based on the flyer signal source; when the reconnaissance aircraft is at the end point of the second flight track, the radio detection equipment is started again to obtain a second direction of the signal source of the target unmanned aerial vehicle, an interference system sends an interference signal to the target unmanned aerial vehicle based on the corrected position information, the flight angle information and the flight speed information of the target unmanned aerial vehicle, the communication between the target unmanned aerial vehicle and the flight handle is cut off, the target unmanned aerial vehicle is forced to return, and the detection equipment obtains the return track of the target unmanned aerial vehicle; and obtaining the position of the flying hand based on the first direction, the second direction and the return flight track of the target unmanned aerial vehicle. The method plans the flight track of the unmanned aerial vehicle of the owner by detecting the flight information of the target unmanned aerial vehicle, receives the real-time communication signal of the target unmanned aerial vehicle, obtains a first direction and a second direction based on the flight information, cuts off the communication of the target unmanned aerial vehicle, forces the target unmanned aerial vehicle to return to the air, obtains a return track, calculates the intersection points of the first direction, the second direction and the extension lines of the return track, and obtains the position of the pilot. A large amount of tedious calculation processes are saved, the positioning accuracy is high, a plurality of detecting unmanned aerial vehicles are not needed to operate, a single unmanned aerial vehicle can complete, and the cost is reduced. According to the uplink signal and the downlink signal of the target unmanned aerial vehicle, the position of the unmanned aerial vehicle is corrected, and errors are reduced.
Correspondingly, this application still provides a multipoint cross location unmanned aerial vehicle flight hand's equipment, as shown in fig. 2, this equipment includes:
the first obtaining module 201 is configured to obtain flight information of the target unmanned aerial vehicle through the detection device, where the flight information includes flight angle information, flight speed information, flight position information, and flight trajectory information;
a second obtaining module 202, configured to plan a first flight trajectory of a scout of one of the parties based on the flight position information and the flight trajectory information, where the scout obtains a real-time communication signal of the target unmanned aerial vehicle on the way of the first flight trajectory, where the real-time communication signal includes an uplink signal and a downlink signal;
the first detection module 203 is configured to start a radio detection device when the scout aircraft reaches the first flight trajectory end point, acquire a first direction of the target unmanned aerial vehicle flight hand signal source, and plan a second flight trajectory of the scout aircraft based on the flight hand signal source;
the second detection module 204 is configured to, when the reconnaissance aircraft is at the end of the second flight trajectory, turn on the radio detection device again to obtain a second direction of the signal source of the target unmanned aerial vehicle, send an interference signal to the target unmanned aerial vehicle based on the corrected position information, flight angle information, and flight speed information of the target unmanned aerial vehicle, cut off communication between the target unmanned aerial vehicle and the flight crew, force the target unmanned aerial vehicle to return, and obtain a return trajectory of the target unmanned aerial vehicle by the detection device;
a positioning module 205, configured to obtain a position of the flying hand based on the first direction, the second direction, and the return trajectory of the target drone.
In some embodiments of the present application, the apparatus further comprises a planning module configured to:
on the way of the first flight track, the scout of the other party flies along with the target unmanned aerial vehicle, and the scout does not collide with the target unmanned aerial vehicle, or the first flight track does not intersect or coincide with the flight track of the target unmanned aerial vehicle.
In some embodiments of the present application, the apparatus further comprises a modification module configured to:
and obtaining the position information of the corrected target unmanned aerial vehicle based on the flight position information, the flight track information and the downlink signal.
In some embodiments of the present application, the first detecting module 203 is specifically configured to:
obtaining a first direction of a target unmanned aerial vehicle flyer signal source according to the uplink signal and the detection of the radio detection equipment;
the first direction and the second direction are both directions of the detection unmanned aerial vehicle head towards the flying hand signal source.
In some embodiments of the present application, the positioning module 205 is specifically configured to:
and calculating the intersection point of the first direction, the second direction and the extension line of the return trajectory of the target unmanned aerial vehicle, wherein the intersection point is the position of the flyer.
Those skilled in the art will appreciate that the modules in the device in the implementation scenario may be distributed in the device in the implementation scenario according to the description of the implementation scenario, or may be located in one or more devices different from the present implementation scenario with corresponding changes. The modules of the implementation scenario may be combined into one module, or may be further split into a plurality of sub-modules.
Example 2
There are several alternatives or preferred embodiments of the present invention that achieve the objectives of the present invention. Step S105 may be replaced by the following scheme in the method of the present application:
the reconnaissance unmanned aerial vehicle is provided with the high-definition camera and the distance measuring equipment in an upper assembling mode, when the reconnaissance unmanned aerial vehicle carries out secondary flight track, the high-definition camera and the distance measuring equipment carry out live-action shooting and distance measuring on the flyer signal source to obtain live-action information and distance information, an actual distance is obtained based on the live-action information and the distance information, the actual distance is not a measuring and calculating distance measured by a radar or other detecting equipment, the secondary flight track is adjusted based on the actual distance to enable the reconnaissance unmanned aerial vehicle to fly more accurately, when intersection points of extension lines of a first direction, a second direction and a target unmanned aerial vehicle return track are measured and calculated, the actual distance can be used as an auxiliary tool, the extension lines of the first direction, the second direction and the target unmanned aerial vehicle return track are finely adjusted based on the actual distance, and the obtained intersection points are more accurate.
The remaining steps were the same as in example 1.
Example 3
In step S105, if the intersection point of the extension lines of the first direction, the second direction and the return trajectory of the target unmanned aerial vehicle is not unique, the following situations are divided:
the first condition is that the extension line of the first direction and the extension line of the return trajectory of the target unmanned aerial vehicle have an intersection point, the extension line of the first direction and the extension line of the second direction have an intersection point, and the two intersection points are different, so that the intersection point of the extension line of the first direction and the extension line of the return trajectory of the target unmanned aerial vehicle is used as the position of the pilot.
And the second condition is that the extension line in the second direction and the extension line of the return trajectory of the target unmanned aerial vehicle have an intersection point, the extension line in the first direction and the extension line in the second direction have an intersection point, and the two intersection points are different, so that the intersection point of the extension line in the second direction and the extension line of the return trajectory of the target unmanned aerial vehicle is used as the position of the flyer.
And in a third condition, the extension line in the first direction and the extension line in the second direction both have intersection points with the extension line of the return trajectory of the target unmanned aerial vehicle, two different intersection points exist, the two intersection points are located on the line segment on the extension line of the return trajectory of the unmanned aerial vehicle, and the midpoint of the line segment is the position of the flying hand of the unmanned aerial vehicle.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not necessarily depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A method for multipoint cross positioning of a flying hand of an unmanned aerial vehicle is characterized by comprising the following steps:
acquiring flight information of a target unmanned aerial vehicle through detection equipment, wherein the flight information comprises flight angle information, flight speed information, flight position information and flight track information;
planning a first flight track of a scout of one party based on the flight position information and the flight track information, wherein the scout acquires a real-time communication signal of the target unmanned aerial vehicle on the way of the first flight track, and the real-time communication signal comprises an uplink signal and a downlink signal;
when the scout plane reaches the first flight track end point, starting a radio detection device, acquiring a first direction of a target unmanned aerial vehicle flyer signal source, and planning a second flight track of the scout plane based on the flyer signal source;
when the reconnaissance aircraft is at the end point of the second flight track, the radio detection equipment is started again to obtain a second direction of the signal source of the target unmanned aerial vehicle, an interference system sends an interference signal to the target unmanned aerial vehicle based on the corrected position information, the flight angle information and the flight speed information of the target unmanned aerial vehicle, the communication between the target unmanned aerial vehicle and the flight handle is cut off, the target unmanned aerial vehicle is forced to return, and the detection equipment obtains the return track of the target unmanned aerial vehicle;
and obtaining the position of the flyer based on the first direction, the second direction and the return trajectory of the target unmanned aerial vehicle.
2. The method of claim 1, wherein the method further comprises:
on the way of the first flight track, the scout of the other party flies along with the target unmanned aerial vehicle, and the scout does not collide with the target unmanned aerial vehicle, or the first flight track does not intersect or coincide with the flight track of the target unmanned aerial vehicle.
3. The method of claim 1, wherein the method further comprises:
and obtaining the corrected position information of the target unmanned aerial vehicle based on the flight position information, the flight track information and the downlink signal.
4. The method according to claim 3, wherein a first direction of the target drone flight hand signal source is obtained, specifically:
obtaining a first direction of a target unmanned aerial vehicle flyer signal source according to the uplink signal and the detection of the radio detection equipment;
the first direction and the second direction are both directions of the detection unmanned aerial vehicle head towards the flying hand signal source.
5. The method of claim 4, wherein the obtaining of the position of the hand based on the first direction, the second direction, and the return trajectory of the target drone is specifically:
and calculating the intersection point of the first direction, the second direction and the extension line of the return trajectory of the target unmanned aerial vehicle, wherein the intersection point is the position of the flyer.
6. The utility model provides an equipment of multipoint cross location unmanned aerial vehicle flight hand which characterized in that includes:
the first acquisition module is used for acquiring flight information of the target unmanned aerial vehicle through the detection equipment, wherein the flight information comprises flight angle information, flight speed information, flight position information and flight track information;
the second obtaining module is used for planning a first flight track of a scout of one party based on the flight position information and the flight track information, the scout obtains real-time communication signals of the target unmanned aerial vehicle on the way of the first flight track, and the real-time communication signals comprise uplink signals and downlink signals;
the first detection module is used for starting radio detection equipment when the scout plane reaches the first flight track end point, acquiring a first direction of a target unmanned plane flight hand signal source, and planning a second flight track of the scout plane based on the flight hand signal source;
the second detection module is used for starting the radio detection equipment again when the reconnaissance aircraft is at the end point of the second flight track, acquiring the second direction of the signal source of the target unmanned aerial vehicle, sending an interference signal to the target unmanned aerial vehicle based on the corrected position information, the flight angle information and the flight speed information of the target unmanned aerial vehicle by the interference system, cutting off the communication between the target unmanned aerial vehicle and the flight arm, forcing the target unmanned aerial vehicle to return, and acquiring the return track of the target unmanned aerial vehicle by the detection equipment;
and the positioning module is used for obtaining the position of the flyer based on the first direction, the second direction and the return trajectory of the target unmanned aerial vehicle.
7. The apparatus of claim 6, further comprising a planning module to:
on the way of the first flight track, the scout of the other party flies along with the target unmanned aerial vehicle, and the scout does not collide with the target unmanned aerial vehicle, or the first flight track does not intersect or coincide with the flight track of the target unmanned aerial vehicle.
8. The apparatus of claim 6, further comprising a modification module to:
and obtaining the corrected position information of the target unmanned aerial vehicle based on the flight position information, the flight track information and the downlink signal.
9. The apparatus of claim 8, wherein the first detection module is specifically configured to:
acquiring a first direction of a target unmanned aerial vehicle pilot signal source according to the uplink signal and the detection of the radio detection equipment;
the first direction and the second direction are both directions of the detection unmanned aerial vehicle head towards the flying hand signal source.
10. The device of claim 9, wherein the positioning module is specifically configured to:
and calculating the intersection point of the first direction, the second direction and the extension line of the return trajectory of the target unmanned aerial vehicle, wherein the intersection point is the position of the flyer.
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