CN116990849A - Unmanned aerial vehicle positioning system and method based on dual-mode communication - Google Patents

Unmanned aerial vehicle positioning system and method based on dual-mode communication Download PDF

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Publication number
CN116990849A
CN116990849A CN202310970682.8A CN202310970682A CN116990849A CN 116990849 A CN116990849 A CN 116990849A CN 202310970682 A CN202310970682 A CN 202310970682A CN 116990849 A CN116990849 A CN 116990849A
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China
Prior art keywords
unmanned aerial
aerial vehicle
information
reference station
data
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CN202310970682.8A
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Chinese (zh)
Inventor
王桂光
张浩凡
许正罡
刘付勇
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Shennan Guangnian Shenzhen Intelligent Technology Co ltd
Southwest University of Science and Technology
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Shennan Guangnian Shenzhen Intelligent Technology Co ltd
Southwest University of Science and Technology
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Priority to CN202310970682.8A priority Critical patent/CN116990849A/en
Publication of CN116990849A publication Critical patent/CN116990849A/en
Pending legal-status Critical Current

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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
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
    • G01S19/12—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are telecommunication base stations
    • 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
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B3/00—Line transmission systems
    • H04B3/54—Systems for transmission via power distribution lines
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Power Engineering (AREA)
  • Astronomy & Astrophysics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention relates to the field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle positioning system and method based on dual-mode communication. The system comprises: the system comprises an unmanned aerial vehicle, a reference station and a data processing center, wherein the unmanned aerial vehicle comprises a first positioning device for providing satellite positioning data of the unmanned aerial vehicle and a wireless communication device for data transmission; the reference station comprises an electricity utilization main body, a dual-mode chip electrically connected with the electricity utilization main body and a sensing device connected with the dual-mode chip, and the dual-mode communication chip supports HPLC and HRF communication modes; when the sensing device senses the unmanned aerial vehicle within the communication distance range of the dual-mode communication chip, the reference station automatically acquires the position reference information and transmits the position reference information to the data processing center, so that the data processing center determines the fine positioning information of the unmanned aerial vehicle according to the satellite positioning data of the unmanned aerial vehicle and the position reference information. By the mode, the positioning precision of the unmanned aerial vehicle can be improved, and the problems of high satellite signal crosstalk and inaccurate positioning in places with dense cities are solved.

Description

Unmanned aerial vehicle positioning system and method based on dual-mode communication
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle positioning system and method based on dual-mode communication.
Background
The positioning performance provided by the current GNSS (Global Navigation Satellite System ) is generally at the level of meters, typically about 5-10 meters. Due to the influence of error sources such as satellite orbits, clock errors, ionosphere delays, troposphere delays and the like, the positioning accuracy is difficult to further improve by a GNSS system only. Therefore, a navigation enhancement system needs to be introduced to obtain positioning accuracy in the order of decimeters, centimeters, or even millimeters for a user on the basis of GNSS. According to different implementation modes, the existing navigation enhancement system can be divided into a foundation enhancement system and a satellite-based enhancement system. The foundation enhancement system adopts a differential system, namely, when the distance between the mobile receiving station and the reference monitoring station is not far, the satellite orbit, the clock error, the ionosphere delay and the troposphere delay error of a certain navigation satellite are consistent, and the differential error is transmitted to the mobile receiving station through a mobile communication network or a special communication link, so that the improvement of the positioning precision is realized. However, in densely populated areas, satellite signals are much in crosstalk and inaccurate in positioning.
Disclosure of Invention
The invention provides an unmanned aerial vehicle positioning system and method based on dual-mode communication, which can solve the technical problems of high satellite signal crosstalk and inaccurate positioning in urban dense places.
In order to solve the technical problems, the invention adopts a technical scheme that: provided is a positioning system of an unmanned aerial vehicle based on dual-mode communication, comprising: unmanned aerial vehicle, reference station and data processing center;
the unmanned aerial vehicle comprises a first positioning device for providing satellite positioning data of the unmanned aerial vehicle and a wireless communication device for carrying out data transmission with the reference station and the data processing center;
the reference station comprises an electricity consumption main body arranged in a preset electric power network, a dual-mode chip electrically connected with the electricity consumption main body and a sensing device connected with the dual-mode chip and used for sensing the unmanned aerial vehicle, wherein the dual-mode communication chip supports an HPLC communication mode and an HRF communication mode and is used for carrying out data transmission with the unmanned aerial vehicle and the data processing center; when the sensing device senses the unmanned aerial vehicle within the communication distance range of the dual-mode communication chip, the reference station automatically acquires position reference information and transmits the position reference information to the data processing center through the dual-mode chip, so that the data processing center determines fine positioning information of the unmanned aerial vehicle according to satellite positioning data of the unmanned aerial vehicle and the position reference information.
According to one embodiment of the invention, the position reference information comprises position information of the reference station itself and relative position information between the drone and the reference station or satellite positioning data of the reference station.
According to one embodiment of the invention, when the position reference information comprises the position information of the reference station itself and satellite positioning data of the reference station, the reference station further comprises second positioning means connected to the dual-mode chip and used for the satellite positioning data of itself.
According to one embodiment of the invention, the communication distance of the dual-mode communication chip is 2-5km.
In order to solve the technical problems, the invention adopts another technical scheme that: the utility model provides a unmanned aerial vehicle positioning method based on bimodulus communication, be used for the reference station, unmanned aerial vehicle positioning method includes:
sensing the unmanned aerial vehicle in the communication distance range of the dual-mode communication chip in real time through a sensing device;
when the sensing device senses the unmanned aerial vehicle, position reference information is automatically acquired and transmitted to the data processing center through the dual-mode chip, so that the data processing center determines fine positioning information of the unmanned aerial vehicle according to satellite positioning data of the unmanned aerial vehicle and the position reference information.
In order to solve the technical problems, the invention adopts another technical scheme that: the utility model provides a unmanned aerial vehicle positioning method based on bimodulus communication, be used for data processing center, unmanned aerial vehicle positioning method includes:
acquiring satellite positioning data of the unmanned aerial vehicle and position reference information sent by a reference station;
and determining the fine positioning information of the unmanned aerial vehicle according to the satellite positioning data of the unmanned aerial vehicle and the position reference information.
According to an embodiment of the present invention, when the reference station is set to one, and the position reference information includes position information of the reference station itself and relative position information between the unmanned aerial vehicle and the reference station, the determining fine positioning information of the unmanned aerial vehicle according to satellite positioning data of the unmanned aerial vehicle and the position reference information further includes:
calculating satellite positioning data of the reference station according to the satellite positioning data of the unmanned aerial vehicle and the relative position information between the reference station;
calculating differential data according to satellite positioning data of the reference station and position information of the reference station;
and correcting satellite positioning data of the unmanned aerial vehicle by utilizing the differential data to obtain fine positioning information of the unmanned aerial vehicle.
According to an embodiment of the present invention, when the reference station is provided in plurality, and the position reference information includes position information of the reference station itself and relative position information between the unmanned aerial vehicle and the reference station, the determining fine positioning information of the unmanned aerial vehicle according to satellite positioning data of the unmanned aerial vehicle and the position reference information further includes:
calculating the spatial position of the unmanned aerial vehicle according to the position information of each reference station and the relative position information between the unmanned aerial vehicle and each reference station;
calculating a difference between satellite positioning data of the unmanned aerial vehicle and a spatial position of the unmanned aerial vehicle;
and if the difference value is larger than or equal to a first preset threshold value, determining the fine positioning information of the unmanned aerial vehicle according to the spatial position of the unmanned aerial vehicle.
According to one embodiment of the present invention, when the position reference information includes position information of the reference station itself and satellite positioning data of the reference station, the determining fine positioning information of the unmanned aerial vehicle according to the satellite positioning data of the unmanned aerial vehicle and the position reference information further includes:
calculating differential data according to satellite positioning data of the reference station and position information of the reference station;
and correcting satellite positioning data of the unmanned aerial vehicle by utilizing the differential data to obtain fine positioning information of the unmanned aerial vehicle.
According to one embodiment of the present invention, when the reference station is provided with two or more, the step of determining the fine positioning information of the unmanned aerial vehicle according to the satellite positioning data of the unmanned aerial vehicle and the position reference information further includes:
calculating differential data of each reference station according to satellite positioning data of each unmanned aerial vehicle and the position reference information;
sorting the differential data of each reference station, selecting the differential data with the largest sorting and the smallest sorting, and calculating a difference value;
if the difference value is larger than or equal to a second preset threshold value, calculating the average value of all the differential data, and correcting satellite positioning data of the unmanned aerial vehicle by using the average value of the differential data to obtain fine positioning information of the unmanned aerial vehicle;
and if the difference value is smaller than a second preset threshold value, selecting any one of the difference data to correct the satellite positioning data of the unmanned aerial vehicle, and obtaining the accurate positioning information of the unmanned aerial vehicle.
The beneficial effects of the invention are as follows: the sensing device and the dual-mode chip are arranged at the reference station, so that the sensing unmanned aerial vehicle can be realized, and the sensing communication network can be constructed based on the existing power network at zero marginal cost; the position reference information of the reference station is used as a positioning reference of the aerial unmanned aerial vehicle, compared with the positioning calibration of the differential station as a satellite, the satellite signal has small interference and stable positioning signal, can improve the positioning precision of the unmanned aerial vehicle, is particularly suitable for being applied to places with dense cities, and solves the problems of high satellite signal crosstalk and inaccurate positioning in places with dense cities.
Drawings
FIG. 1 is a schematic diagram of a dual-mode communication-based unmanned aerial vehicle positioning system architecture according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a dual mode communication based unmanned positioning system architecture according to another embodiment of the present invention;
FIG. 3 is a schematic diagram of a dual mode communication based unmanned positioning system architecture according to another embodiment of the present invention;
fig. 4 is a flow chart of a method for positioning a drone based on dual mode communication according to an embodiment of the present invention;
fig. 5 is a flow chart of a method for positioning a drone based on dual mode communication according to another embodiment of the present invention;
fig. 6 is a flow chart of a method for positioning a drone based on dual mode communication according to another embodiment of the present invention;
fig. 7 is a flow chart of a method for positioning a drone based on dual mode communication according to another embodiment of the present invention;
fig. 8 is a flow chart of a method for positioning a drone based on dual mode communication according to another embodiment of the present invention;
fig. 9 is a flow chart of a method for positioning a drone based on dual mode communication according to another embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terms "first," "second," "third," and the like in this disclosure are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", and "a third" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise. All directional indications (such as up, down, left, right, front, back … …) in embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular gesture (as shown in the drawings), and if the particular gesture changes, the directional indication changes accordingly. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
Fig. 1 is a schematic diagram of a positioning system architecture of a dual-mode communication-based unmanned aerial vehicle according to an embodiment of the present invention. Referring to fig. 1, the unmanned aerial vehicle positioning system 100 includes: the unmanned aerial vehicle 10, the reference station 20 and the data processing center 30, the reference station 20 can sense the unmanned aerial vehicle 10 and transmit position reference information to the data processing center 30, the unmanned aerial vehicle 10 can provide coarse positioning information of the unmanned aerial vehicle 10, such as GPS (Global Positioning System ) positioning data, and the data processing center 30 corrects the coarse positioning information of the unmanned aerial vehicle 10 according to the position reference information to obtain fine positioning information of the unmanned aerial vehicle 10, so that accurate positioning of the unmanned aerial vehicle 10 is achieved.
In one possible embodiment, referring to fig. 1, the drone 10 includes a first positioning device 101 for providing satellite positioning data of its own, and a wireless communication device 102 for wireless data transmission with the reference station 20, the data processing center 30. In one embodiment, the first positioning device 101 may be a GPS receiver, and the GPS receiver may receive positioning data of an aerial satellite or a terrestrial satellite.
In one implementation, referring to fig. 1, at least one reference station 20 is provided, and the reference station 20 includes an electricity consumption main body 201, a dual-mode chip 202 electrically connected to the electricity consumption main body 201, and a sensing device 203 connected to the dual-mode chip 202 and used for sensing the unmanned aerial vehicle 10.
The electricity consumption main body 201 is an electric device in a preset power network. The preset power network is an existing well-established power network and can exist in environments such as street lamp illumination, power supply buildings, rail transit, ports and wharfs and the like. Electrical consumers such as street lamps, communication towers, etc. The sensing device 203 may include, but is not limited to, a sensor, camera, weather station, microwave radar, acoustic wave receiving module, etc. The dual-mode communication chip 202 supports an HPLC (Highspeed Power Line Communication, high-speed power line carrier communication) communication mode and an HRF (Highspeed Radio Frequency, high-speed micro power wireless communication) communication mode, which can solve the problems of low single-mode power line carrier communication bandwidth, poor channel capability and the like, the communication distance of the dual-mode communication chip 202 is 2-5km, and it can be understood that the dual-mode communication chip 202 can realize mutual communication within the distance range of 2-5km, and the dual-mode communication chip 202 is used for carrying out data transmission with the unmanned aerial vehicle 10 and the data processing center 30.
In this embodiment, the unmanned aerial vehicle 10 acquires satellite positioning data of the unmanned aerial vehicle 10 in real time through the first positioning device 101, and transmits the satellite positioning data of the unmanned aerial vehicle 10 to the data processing center 30 through the wireless communication device 102; the reference station 20 senses the unmanned aerial vehicle 10 in real time through the sensing device 203, when the sensing device 203 senses the unmanned aerial vehicle 10 within the communication distance range of the dual-mode communication chip 202, the reference station 20 automatically acquires the position reference information and transmits the position reference information to the data processing center 30 through the dual-mode communication chip 202, and the data processing center 30 determines fine positioning information of the unmanned aerial vehicle 10 according to satellite positioning data of the unmanned aerial vehicle 10 and the position reference information.
In the embodiment, a communication transmission network can be built by the dual-mode chip 202 through a preset power network to realize zero marginal cost, a sensing communication network with fine ground distribution is formed, the sensing unmanned aerial vehicle 10 can be realized through the sensing device 203 and the dual-mode chip 202, in the communication transmission network, each dual-mode chip 202 has fixed spatial attribute, the unmanned aerial vehicle 10 can be provided with reference positioning, and as the transmission distance of the dual-mode chip 202 is far enough, a plurality of spatial reference points can be provided for the unmanned aerial vehicle 10 at the same time, and the accurate spatial positioning of the unmanned aerial vehicle can be realized through the communication intensity, angle and distance between the unmanned aerial vehicle 10 and the reference station 20.
Further, the position reference information of this embodiment includes position information of the reference station itself, and relative position information between the unmanned aerial vehicle 10 and the reference station 20. The position information of the reference station 20 itself can be understood as absolute position information of the power consumption main body 201 or the dual-mode chip 202, and in an embodiment, the position information of the reference station 20 itself can be obtained by using a third-party high-precision mapping technology, and the position information refers to ground longitude and latitude information and altitude information of the reference station 20. Because the positioning signals are derived from the measurement and calculation on the ground, but not from the aerial satellite, the interference of the received external satellite signals is small, and the positioning signals are stable, the high-precision stable positioning can be realized. The relative position information between the drone and the reference station may be one or more of communication strength information, picture information, angle information, and distance information. In an embodiment, in the case of known satellite positioning data of the unmanned aerial vehicle 10, the satellite positioning data of the reference station 20 can be calculated in combination with the relative position information. In another embodiment, the empty position of the drone 10 may be calculated in combination with the relative position information given the position information of the reference station 20 itself.
In an embodiment, when one reference station 20 is set, the unmanned aerial vehicle 10 acquires satellite positioning data of the unmanned aerial vehicle 10 in real time through the first positioning device 101, and transmits the satellite positioning data of the unmanned aerial vehicle 10 to the data processing center 30 through the wireless communication device 102; the reference station 20 senses the unmanned aerial vehicle 10 in real time through the sensing device 203, when the sensing device 203 senses the unmanned aerial vehicle 10 within the communication distance range of the dual-mode communication chip 202, the reference station 20 automatically acquires position reference information (the position information of the reference station 20 and the relative position information between the unmanned aerial vehicle 10 and the reference station 20) and transmits the position reference information to the data processing center 30 through the dual-mode chip 202, and the data processing center 30 calculates satellite positioning data of the reference station 20 according to satellite positioning data of the unmanned aerial vehicle 10 and the relative position information between the unmanned aerial vehicle 10 and the reference station 20; calculating differential data from satellite positioning data of the reference station 20 and position information of the reference station 20 itself; and correcting satellite positioning data of the unmanned aerial vehicle 10 by utilizing the differential data to obtain fine positioning information of the unmanned aerial vehicle 10.
In another embodiment, when the reference station 20 is provided in plurality, the unmanned aerial vehicle 10 acquires satellite positioning data of the unmanned aerial vehicle 10 in real time through the first positioning device 101, and transmits the satellite positioning data of the unmanned aerial vehicle 10 to the data processing center 30 through the wireless communication device 102; the reference station 20 is provided with a plurality of unmanned aerial vehicle 10 and senses the unmanned aerial vehicle 10 in real time through the sensing device 203, when the sensing device 203 senses the unmanned aerial vehicle 10 within the communication distance range of the dual-mode communication chip 202, the reference station 20 automatically acquires position reference information (the position information of the reference station 20 and the relative position information between the unmanned aerial vehicle 10 and the reference station 20) and transmits the position reference information to the data processing center 30 through the dual-mode chip 202, and the data processing center 30 calculates the spatial position of the unmanned aerial vehicle 10 according to the position information of each reference station 20 and the relative position information between the unmanned aerial vehicle 10 and each reference station 20 and calculates the difference between the satellite positioning data of the unmanned aerial vehicle 10 and the spatial position of the unmanned aerial vehicle 10; if the difference is greater than or equal to the first preset threshold, determining the fine positioning information of the unmanned aerial vehicle 10 according to the spatial position of the unmanned aerial vehicle 10. The above embodiment uses the position information of the ground reference station 20 as the positioning reference of the aerial unmanned aerial vehicle 10, is not affected by satellite signal interference, has stable positioning signals, can improve the positioning accuracy of the unmanned aerial vehicle 10, is particularly suitable for the application in urban dense places, and solves the problems of high satellite signal crosstalk and inaccurate positioning in urban dense places.
In one possible implementation, referring to fig. 2, the reference station 20 further includes a second positioning device 204 coupled to the dual mode chip 202 for its own satellite positioning data. The second positioning device 204 may be a GPS receiver that may receive positioning data of either an aerial satellite or a terrestrial satellite. Preferably, the first positioning device 101 and the second positioning device 204 both receive positioning data of ground satellites, and compared with satellites in the air, interference of external satellite signals is small, positioning signals are stable, and high-precision stable positioning can be achieved. The position reference information of this embodiment includes position information of the reference station 20 itself, and satellite positioning data of the reference station 20.
In this embodiment, the unmanned aerial vehicle 10 acquires satellite positioning data of the unmanned aerial vehicle 10 in real time through the first positioning device 101, and transmits the satellite positioning data of the unmanned aerial vehicle 10 to the data processing center 30 through the wireless communication device 102; the reference station 20 senses the unmanned aerial vehicle 10 in real time through the sensing device 203, when the sensing device 203 senses the unmanned aerial vehicle 10 within the communication distance range of the dual-mode communication chip 202, the reference station 20 automatically acquires position reference information (satellite positioning data of the reference station 20 and position information of the reference station 20 itself) and transmits the position reference information to the data processing center 30 through the dual-mode chip 202, and the data processing center 30 calculates differential data according to the satellite positioning data of the reference station 20 and the position information of the reference station 20 itself; and correcting satellite positioning data of the unmanned aerial vehicle 10 by utilizing the differential data to obtain fine positioning information of the unmanned aerial vehicle 10.
In this embodiment, the position information of the ground reference station 20 is used as the positioning reference of the aerial unmanned aerial vehicle 10, compared with the satellite positioning calibration by the differential station, the satellite signal has small interference, the positioning signal is stable, the positioning precision of the unmanned aerial vehicle 10 can be improved, the method is particularly suitable for the application in urban dense places, and the problems of high satellite signal crosstalk and inaccurate positioning in urban dense places are solved.
In an implementation manner, referring to fig. 3, the unmanned aerial vehicle 10 further includes a storage device 103 for storing preset navigation route information and fine positioning information. In this embodiment, the data processing center 30 prestores the position information of the faulty power consumption main body, and after determining the fine positioning information of the unmanned aerial vehicle 10, determines the target unmanned aerial vehicle according to the fine positioning information of the unmanned aerial vehicle 10 and the position information of the faulty power consumption main body; the target unmanned aerial vehicle can be the unmanned aerial vehicle 10 nearest to the fault electricity utilization main body, generates preset route information according to the accurate positioning information of the target unmanned aerial vehicle and the position information of the fault electricity utilization main body, and sends the preset navigation route information and the accurate positioning information to the target unmanned aerial vehicle, so that the target unmanned aerial vehicle stores the preset navigation route information and the accurate positioning information, searches the fault electricity utilization main body according to the preset route information, and carries out emergency rescue on the fault electricity utilization main body.
Fig. 4 is a flow chart of a method for positioning a drone based on dual mode communication according to an embodiment of the present invention. It should be noted that, if there are substantially the same results, the method of the present invention is not limited to the flow sequence shown in fig. 4. As shown in fig. 4, the method is used for a reference station, and is implemented by means of the unmanned aerial vehicle positioning system based on dual-mode communication, and the method comprises the following steps:
step S401: the unmanned aerial vehicle in the communication distance range of the dual-mode communication chip is sensed in real time through the sensing device.
In step S401, the dual-mode communication chip supports the HPLC communication mode and the HRF communication mode, and the communication distance of the dual-mode communication chip is 2-5km, which means that the dual-mode communication chips can implement mutual communication within the distance range of 2-5km. The sensing devices may include, but are not limited to, sensors, cameras, weather stations, microwave radars, acoustic wave receiving modules, and the like.
Step S402: when the sensing device senses the unmanned aerial vehicle, the sensing device automatically acquires the position reference information and transmits the position reference information to the data processing center through the dual-mode chip, so that the data processing center determines the fine positioning information of the unmanned aerial vehicle according to the satellite positioning data and the position reference information of the unmanned aerial vehicle.
In step S402, the position reference information includes position information of the reference station itself and relative position information between the drone and the reference station or satellite positioning data of the reference station. The position information of the reference station can be obtained by using a third-party high-precision mapping technology, and the position information refers to the ground longitude and latitude information and altitude information of the reference station; the relative position information between the unmanned aerial vehicle and the reference station may be one or more of communication intensity information, picture information, angle information and distance information, and in an embodiment, satellite positioning data of the reference station may be calculated by combining the relative position information under the condition that satellite positioning data of the unmanned aerial vehicle is known. In another embodiment, the position information of the reference station itself is known, and the position information is combined to calculate the idle position of the unmanned aerial vehicle. The satellite positioning data of the reference station may be obtained based on a second positioning device, which may be a GPS receiver, which may receive positioning data of an aerial satellite or a terrestrial satellite.
In the embodiment, the unmanned aerial vehicle acquires satellite positioning data of the unmanned aerial vehicle in real time through the first positioning device, and transmits the satellite positioning data of the unmanned aerial vehicle to the data processing center through the wireless communication device; the reference station senses the unmanned aerial vehicle in real time through the sensing device, when the sensing device senses the unmanned aerial vehicle within the communication distance range of the dual-mode communication chip, the reference station automatically acquires the position reference information and transmits the position reference information to the data processing center through the dual-mode chip, and the data processing center determines the fine positioning information of the unmanned aerial vehicle according to the satellite positioning data and the position reference information of the unmanned aerial vehicle.
According to the unmanned aerial vehicle positioning method based on the dual-mode communication, the position information of the ground reference station is used as the positioning reference of the unmanned aerial vehicle, compared with the satellite positioning calibration by the differential station, the satellite signal interference is small, the positioning signal is stable, the positioning precision of the unmanned aerial vehicle can be improved, the unmanned aerial vehicle positioning method based on the dual-mode communication is particularly suitable for being applied to urban dense places, and the problems that in the urban dense places, the satellite signal crosstalk is large and the positioning is inaccurate are solved.
Fig. 5 is a flow chart of a method for positioning a drone based on dual mode communication according to another embodiment of the present invention. It should be noted that, if there are substantially the same results, the method of the present invention is not limited to the flow sequence shown in fig. 5. As shown in fig. 5, the method is used in a data processing center, and is implemented by means of the above unmanned aerial vehicle positioning system based on dual-mode communication, and the method includes the steps of:
step S501: and acquiring satellite positioning data of the unmanned aerial vehicle and position reference information sent by the reference station.
In step S501, the unmanned aerial vehicle acquires satellite positioning data of the unmanned aerial vehicle based on a first positioning device, which may be a GPS receiver, which may receive positioning data of an aerial satellite or a ground satellite. The position reference information includes position information of the reference station itself and relative position information between the drone and the reference station or satellite positioning data of the reference station. The position information of the reference station can be obtained by using a third-party high-precision mapping technology, and the position information refers to the ground longitude and latitude information and altitude information of the reference station; the relative position information between the unmanned aerial vehicle and the reference station may be one or more of communication intensity information, picture information, angle information and distance information, and in an embodiment, satellite positioning data of the reference station may be calculated by combining the relative position information under the condition that satellite positioning data of the unmanned aerial vehicle is known. In another embodiment, the position information of the reference station itself is known, and the position information is combined to calculate the idle position of the unmanned aerial vehicle. The satellite positioning data of the reference station may be obtained based on a second positioning device, which may be a GPS receiver, which may receive positioning data of an aerial satellite or a terrestrial satellite.
Step S502: and determining the fine positioning information of the unmanned aerial vehicle according to the satellite positioning data and the position reference information of the unmanned aerial vehicle.
In step S502, in one possible embodiment, when the reference station is set to one, and the position reference information includes position information of the reference station itself and relative position information between the drone and the reference station, please refer to fig. 6, step S502 further includes:
step S601: and calculating satellite positioning data of the reference station according to the relative position information between the satellite positioning data of the unmanned aerial vehicle and the reference station.
Step S602 calculates differential data from satellite positioning data of the reference station and position information of the reference station itself.
Step S603: and correcting satellite positioning data of the unmanned aerial vehicle by utilizing the differential data to obtain accurate positioning information of the unmanned aerial vehicle.
In one embodiment, when the reference stations are provided in plurality, and the position reference information includes position information of the reference station itself and relative position information between the drone and the reference station, referring to fig. 7, step S502 further includes:
step S701: and calculating the spatial position of the unmanned aerial vehicle according to the position information of each reference station and the relative position information between the unmanned aerial vehicle and each reference station.
Step S702: and calculating the difference between the satellite positioning data of the unmanned aerial vehicle and the spatial position of the unmanned aerial vehicle.
Step S703: if the difference value is greater than or equal to a first preset threshold value, determining the fine positioning information of the unmanned aerial vehicle according to the spatial position of the unmanned aerial vehicle.
In the step, the first preset threshold value can be adjusted according to actual conditions, the first preset threshold value represents position accuracy, and if the difference value is smaller than the first preset threshold value, any one of the space position of the unmanned aerial vehicle and satellite positioning data of the unmanned aerial vehicle can be selected as fine positioning information of the unmanned aerial vehicle.
In another embodiment, when the position reference information includes the position information of the reference station itself and satellite positioning data of the reference station, referring to fig. 8, step S502 further includes:
step S801: differential data is calculated from satellite positioning data of the reference station and position information of the reference station itself.
Step S802: and correcting satellite positioning data of the unmanned aerial vehicle by utilizing the differential data to obtain accurate positioning information of the unmanned aerial vehicle.
In another implementation, when two or more reference stations are set, referring to fig. 9, step S502 further includes:
step S901: and calculating differential data of each reference station according to the satellite positioning data and the position reference information of each unmanned aerial vehicle.
In step S901, the calculation of the differential data is similar to steps S601 to S602 in fig. 6 or step S801 in fig. 8, and will not be described in detail here.
Step S902: and sorting the differential data of each reference station, selecting the differential data with the largest sorting and the smallest sorting, and calculating the difference value.
In step S902, the differential data of each reference station is arranged in descending order or ascending order according to the magnitude of the value, and the differential data with the largest order and the smallest order are selected and the difference is calculated.
Step S903: if the difference value is larger than or equal to a second preset threshold value, calculating the average value of all the differential data, and correcting satellite positioning data of the unmanned aerial vehicle by using the average value of the differential data to obtain accurate positioning information of the unmanned aerial vehicle.
In step S903, the second preset threshold may be adjusted according to the actual situation, where the second preset threshold represents position accuracy, and if the difference is greater than or equal to the second preset threshold, it indicates that the difference between the differential data is greater, the position error is greater, and the differential data needs to be adjusted to reduce the position error, so as to further improve positioning accuracy, calculate an average value of all the differential data, and correct satellite positioning data of the unmanned aerial vehicle by using the average value of the differential data, so as to obtain accurate positioning information of the unmanned aerial vehicle.
Step S904: and if the difference value is smaller than a second preset threshold value, selecting any one differential data to correct the satellite positioning data of the unmanned aerial vehicle, and obtaining the accurate positioning information of the unmanned aerial vehicle.
In step S904, if the difference is smaller than the second preset threshold, it is indicated that the difference between the differential data is smaller and the position error is smaller, and then any one differential data is selected to correct the satellite positioning data of the unmanned aerial vehicle, so as to obtain the accurate positioning information of the unmanned aerial vehicle.
According to the unmanned aerial vehicle positioning method based on the dual-mode communication, the position information of the ground reference station is used as the positioning reference of the unmanned aerial vehicle, compared with the satellite positioning calibration by the differential station, the satellite signal interference is small, the positioning signal is stable, the positioning precision of the unmanned aerial vehicle can be improved, the unmanned aerial vehicle positioning method based on the dual-mode communication is particularly suitable for being applied to urban dense places, and the problems that in the urban dense places, the satellite signal crosstalk is large and the positioning is inaccurate are solved.
The foregoing is only the embodiments of the present invention, and therefore, the patent scope of the invention is not limited thereto, and all equivalent structures or equivalent processes using the descriptions of the present invention and the accompanying drawings, or direct or indirect application in other related technical fields, are included in the scope of the invention.

Claims (10)

1. A dual-mode communication-based unmanned aerial vehicle positioning system, comprising: unmanned aerial vehicle, reference station and data processing center;
the unmanned aerial vehicle comprises a first positioning device for providing satellite positioning data of the unmanned aerial vehicle and a wireless communication device for carrying out data transmission with the reference station and the data processing center;
the reference station comprises an electricity consumption main body arranged in a preset electric power network, a dual-mode chip electrically connected with the electricity consumption main body and a sensing device connected with the dual-mode chip and used for sensing the unmanned aerial vehicle, wherein the dual-mode communication chip supports an HPLC communication mode and an HRF communication mode and is used for carrying out data transmission with the unmanned aerial vehicle and the data processing center; when the sensing device senses the unmanned aerial vehicle within the communication distance range of the dual-mode communication chip, the reference station automatically acquires position reference information and transmits the position reference information to the data processing center through the dual-mode chip, so that the data processing center determines fine positioning information of the unmanned aerial vehicle according to satellite positioning data of the unmanned aerial vehicle and the position reference information.
2. The unmanned aerial vehicle positioning system of claim 1, wherein the position reference information comprises position information of the reference station itself and relative position information between the unmanned aerial vehicle and the reference station or satellite positioning data of the reference station.
3. The unmanned aerial vehicle positioning system of claim 2, wherein when the position reference information comprises position information of the reference station itself and satellite positioning data of the reference station, the reference station further comprises a second positioning device connected to the dual-mode chip and used for the satellite positioning data of itself.
4. The unmanned aerial vehicle positioning system of claim 1, wherein the dual mode communication chip has a communication distance of 2-5km.
5. A method for positioning a drone based on dual-mode communication, for the reference station, the method comprising:
sensing the unmanned aerial vehicle in the communication distance range of the dual-mode communication chip in real time through a sensing device;
when the sensing device senses the unmanned aerial vehicle, position reference information is automatically acquired and transmitted to the data processing center through the dual-mode chip, so that the data processing center determines fine positioning information of the unmanned aerial vehicle according to satellite positioning data of the unmanned aerial vehicle and the position reference information.
6. The unmanned aerial vehicle positioning method based on dual-mode communication is characterized by comprising the following steps of:
acquiring satellite positioning data of the unmanned aerial vehicle and position reference information sent by a reference station;
and determining the fine positioning information of the unmanned aerial vehicle according to the satellite positioning data of the unmanned aerial vehicle and the position reference information.
7. The unmanned aerial vehicle positioning method of claim 6, wherein when the reference station is set to one and the position reference information includes position information of the reference station itself and relative position information between the unmanned aerial vehicle and the reference station, the determining fine positioning information of the unmanned aerial vehicle according to satellite positioning data of the unmanned aerial vehicle and the position reference information further comprises:
calculating satellite positioning data of the reference station according to the satellite positioning data of the unmanned aerial vehicle and the relative position information between the reference station;
calculating differential data according to satellite positioning data of the reference station and position information of the reference station;
and correcting satellite positioning data of the unmanned aerial vehicle by utilizing the differential data to obtain fine positioning information of the unmanned aerial vehicle.
8. The unmanned aerial vehicle positioning method of claim 6, wherein when the reference station is provided in plurality, and the position reference information includes position information of the reference station itself and relative position information between the unmanned aerial vehicle and the reference station, the determining fine positioning information of the unmanned aerial vehicle from satellite positioning data of the unmanned aerial vehicle and the position reference information further comprises:
calculating the spatial position of the unmanned aerial vehicle according to the position information of each reference station and the relative position information between the unmanned aerial vehicle and each reference station;
calculating a difference between satellite positioning data of the unmanned aerial vehicle and a spatial position of the unmanned aerial vehicle;
and if the difference value is larger than or equal to a first preset threshold value, determining the fine positioning information of the unmanned aerial vehicle according to the spatial position of the unmanned aerial vehicle.
9. The unmanned aerial vehicle positioning method of claim 6, wherein when the position reference information includes position information of the reference station itself and satellite positioning data of the reference station, the determining refined positioning information of the unmanned aerial vehicle from the satellite positioning data of the unmanned aerial vehicle and the position reference information further comprises:
calculating differential data according to satellite positioning data of the reference station and position information of the reference station;
and correcting satellite positioning data of the unmanned aerial vehicle by utilizing the differential data to obtain fine positioning information of the unmanned aerial vehicle.
10. The unmanned aerial vehicle positioning method of claim 6, wherein when the reference station is provided in two or more, the step of determining fine positioning information of the unmanned aerial vehicle from satellite positioning data of the unmanned aerial vehicle and the position reference information further comprises:
calculating differential data of each reference station according to satellite positioning data of each unmanned aerial vehicle and the position reference information;
sorting the differential data of each reference station, selecting the differential data with the largest sorting and the smallest sorting, and calculating a difference value;
if the difference value is larger than or equal to a second preset threshold value, calculating the average value of all the differential data, and correcting satellite positioning data of the unmanned aerial vehicle by using the average value of the differential data to obtain fine positioning information of the unmanned aerial vehicle;
and if the difference value is smaller than a second preset threshold value, selecting any one of the difference data to correct the satellite positioning data of the unmanned aerial vehicle, and obtaining the accurate positioning information of the unmanned aerial vehicle.
CN202310970682.8A 2023-08-02 2023-08-02 Unmanned aerial vehicle positioning system and method based on dual-mode communication Pending CN116990849A (en)

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