CN205427178U - A positioning system for accurate navigation of unmanned aerial vehicle - Google Patents
A positioning system for accurate navigation of unmanned aerial vehicle Download PDFInfo
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- CN205427178U CN205427178U CN201521076267.5U CN201521076267U CN205427178U CN 205427178 U CN205427178 U CN 205427178U CN 201521076267 U CN201521076267 U CN 201521076267U CN 205427178 U CN205427178 U CN 205427178U
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Abstract
The utility model discloses a positioning system for accurate navigation of unmanned aerial vehicle belongs to unmanned aerial vehicle location technical field. There is positioning accuracy with high costs difference in current unmanned aerial vehicle location finding technique and receives the environment to shelter from the great problem that influences. Positioning system includes that motor control unit, machine carry orientation module, ground basic station, data acquisition and processing server and PC end. The utility model discloses can be applied to the performance of arraying of indoor unmanned aerial vehicle, the automatic uncork of unmanned aerial vehicle, automatic delivery of goods etc. In the district. During the operator only needed to draw the map through the PC with the orbit of unmanned aerial vehicle operation, unmanned aerial vehicle will fly according to the route that prior planning is good, and the speed on a certain section route of flight in -process can be set for as requested. The positional information of unmanned aerial vehicle flight in -process can be fed back at the PC end in real time, the utility model has the characteristics of the error is little, control accuracy is high.
Description
Technical field
This utility model belongs to unmanned plane field of locating technology, especially relevant with a kind of alignment system for unmanned plane precision navigation.
Background technology
In recent years, along with development and the application of military unmanned machine technology, unmanned air vehicle technique is valued by the people the most day by day.The trend that unmanned air vehicle technique the most oriented miniaturization civil nature direction is developed.Civilian unmanned plane has also waited until extensive application at aspects such as land mapping, ocean inspection, power-line patrolling, meteorological detection, emergency management and rescue, environment monitoring, forest fire protections.It is contemplated that the epoch in future are the epoch of unmanned air vehicle technique " huge explosion ".The flight control mode of current civilian unmanned plane mainly includes line traffic control, limited electrical remote control, wireless remotecontrol, the several ways such as program control.So-called line traffic control, it is simply that power unmanned plane is handled with hand-held steel wire.Limited electrical remote control refers to that various control signals are transferred to unmanned plane by cable or optical cable by ground staff, the information back ground that unmanned plane then will be detected by cable.Wireless remotecontrol refers to that control signal is distributed to each motor after receiving, by airboarne receiver, the control command that ground remote control transmitter is sent and realized the control to unmanned plane by unmanned plane.Above control mode is all that the participation by people realizes, and this makes the manipulation of unmanned plane seem not to be automated intelligent, too increase the burden of controllers simultaneously.Wanting to allow unmanned plane realize automated intelligent flight, we first have to solve the acquisition problems of unmanned plane positional information, allow unmanned plane understand oneself present attitude and position.Satellite-based alignment system, positions a kind of good selection including GPS and dipper system.But owing to global position system must assure that the visuality of satellite, so can only apply under unscreened environmental condition.And the error of civilian GPS system 3m seems the hugest.These all become the indoor technology barriers that flight accurately controls automatically of unmanned plane.
Utility model content
For the problems referred to above, cost high position precision difference that the purpose of this utility model is intended to overcome existing unmanned plane location technology to exist and affected bigger problem by ambient occlusion, thering is provided a kind of alignment system for unmanned plane precision navigation, the program has that error is little, control accuracy high.
To this end, this utility model is by the following technical solutions: a kind of alignment system for unmanned plane precision navigation, it is characterized in that, described alignment system includes motor control unit, airborne locating module, ground base station, data acquisition process server and PC end；
Described airborne locating module sends wireless signal and data to described ground base station, receive wireless signal and data that described ground base station returns, transmitting/receiving wireless signal and data are processed, and receive the flare maneuver that described data acquisition process server sends and adjust instruction, and feed back to described motor control unit and process；
The velocity of rotation that described motor control unit controls each motor according to the instruction that described airborne locating module collects carries out real time correction to course line, to ensure that the unmanned plane speed specified is flown on the course line specified.
Described ground base station receive described in the wireless signal that sends of airborne locating module and data separate ranging information therein (including but not limited to the information such as RSSI, TOF, TOA and TDOA) calculate the distance between airborne locating module and ground base station, and range information delivered data acquisition process server process.
Described data acquisition server calculates, according to the distance between the unmanned plane collected to each base station, the coordinate information that unmanned plane is concrete, and the route information drawn with described PC end contrasts, the adjustment action that next step needs of unmanned plane are made is gone out according to the error judgment between unmanned plane position and course line, adjustment instruction is wirelessly sent to the positioning acquisition module of unmanned plane, calculated coordinate is uploaded to PC end simultaneously and is used on PC, show the position that unmanned plane is present.PC end is used for drawing unmanned plane course line, and route information is delivered data acquisition process server.And obtain corresponding coordinate information for showing on PC from data acquisition process server.
Use this utility model can reach following beneficial effect: this utility model can be applicable to indoor unmanned plane formation performance, and unmanned plane opens automatically, automatic delivery etc. in community.The track that unmanned plane runs only need to be plotted in map by operator by PC, and unmanned plane will fly according to path planned in advance, and in flight course, the speed on a certain section of path can be set as requested.Positional information during unmanned plane during flying can obtain Real-time Feedback at PC end, and this utility model has that error is little, control accuracy high.
Accompanying drawing explanation
Fig. 1 is schematic layout pattern of the present utility model.
Fig. 2 is the schematic layout pattern of airborne locating module.
Fig. 3 is the schematic layout pattern of motor control unit.
Fig. 4 is the schematic layout pattern of ground base station.
Detailed description of the invention
Below in conjunction with the accompanying drawings detailed description of the invention of the present utility model is described in detail.
Embodiment: as shown in Figure 1 to 4, this utility model includes motor control unit, airborne locating module 1, ground base station 2, data acquisition process server 3 and PC end 4；Airborne locating module 1 base station 2 earthward sends wireless signal and data, receive wireless signal and data that ground base station 2 returns, transmitting/receiving wireless signal and data are processed, and receive the flare maneuver that data acquisition process server 3 sends and adjust instruction, and feed back to motor control unit and process；The velocity of rotation that motor control unit controls each motor according to the instruction that airborne locating module 1 collects carries out real time correction to course line, to ensure that the unmanned plane speed specified is flown on the course line specified.Ground base station 2 receive airborne locating module send wireless signal and data separate ranging information therein include but not limited to the information such as RSSI, TOF, TOA and TDOA, calculate the distance between airborne locating module and ground base station, and range information is delivered data acquisition process server process；Data acquisition process server 3 calculates, according to the distance between the unmanned plane collected to each base station, the coordinate information that unmanned plane is concrete, and with PC end 4 draw route information contrast, the adjustment action that next step needs of unmanned plane are made is gone out according to the error judgment between unmanned plane position and course line, adjustment instruction is wirelessly sent to the positioning acquisition module of unmanned plane, calculated coordinate is uploaded to PC end simultaneously and is used on PC, show the position that unmanned plane is present.PC end is used for drawing unmanned plane course line, and route information is delivered data acquisition process server.And obtain corresponding coordinate information for showing on PC from data acquisition process server.
Preferably, airborne locating module 1 is made up of power supply unit, microprocessing unit, wireless transmitter module.Wireless transmitter module is processed by antenna each Base Transmitter wireless data signal earthward or reception wireless signal under microprocessor unit effect.And receive the control instruction that data acquisition process server sends.And hand flight control units over to.
Preferably, motor control unit is flown by sensor unit, microprocessor unit, action edge system and power supply unit form.Sensor unit is for gathering the attitude informations such as inclination direction and the geomagnetic declination acceleration of unmanned plane.Microcontroller adjusts each motor speed according to the control information that airborne locating module receives and regulates the speed and attitude for calibrating course line.
Ground base station is distributed in ground everywhere, and wirelessly measurement ground base station is to the distance of unmanned plane, and the range information obtained is reported data acquisition process server.
Preferably, the information that each base station gathers is collected by data acquisition process server 3, and by being calculated unmanned plane coordinate information in map.And contrast with preset course line and velocity amplitude, according to circumstances judge next step heading of unmanned plane, and be wirelessly sent to unmanned plane.The coordinate information of unmanned plane is uploaded to PC end simultaneously.
Preferably, PC end 4 is mainly used in the preset course line of map making, and receives the coordinate information that data acquisition process server is uploaded, and then shows unmanned plane real time position in map at PC end 5.Of the present utility model ultimate principle and principal character and of the present utility model advantage have more than been shown and described.Skilled person will appreciate that of the industry; this utility model is not restricted to the described embodiments; described in above-described embodiment and description, principle of the present utility model is simply described; on the premise of without departing from this utility model spirit and scope; this utility model also has various changes and modifications, in the range of these changes and improvements both fall within claimed this utility model.This utility model claims scope and is defined by appending claims and equivalent thereof..
Claims (6)
1. the alignment system for unmanned plane precision navigation, it is characterised in that: described alignment system includes motor control unit, airborne locating module (1), ground base station (2), data acquisition process server (3) and PC end (4)；
Described airborne locating module (1) sends wireless signal and data to described ground base station (2), receive wireless signal and data that described ground base station (2) returns, transmitting/receiving wireless signal and data are processed, receive the flare maneuver that described data acquisition process server (3) sends and adjust instruction, and feed back to described motor control unit and process；
The velocity of rotation that described motor control unit controls each motor according to the instruction that described airborne locating module (1) collects carries out real time correction to course line；
The wireless signal of the described airborne locating module transmission described in ground base station (2) reception and data, calculate the distance between airborne locating module and ground base station, and range information is delivered described data acquisition process server (3) process；
Described data acquisition process server (3) calculates, to the distance between each base station, the coordinate information that unmanned plane is concrete according to the unmanned plane collected, and the route information drawn with described PC end (4) contrasts.
A kind of alignment system for unmanned plane precision navigation the most according to claim 1, it is characterised in that: described airborne locating module (1) is made up of power supply unit, microprocessing unit, wireless transmitter module.
A kind of alignment system for unmanned plane precision navigation the most according to claim 1, it is characterised in that: described motor control unit is made up of sensor unit, microprocessor unit, flying power system and power supply unit.
A kind of alignment system for unmanned plane precision navigation the most according to claim 1, it is characterized in that: the information that each base station gathers is collected by described data acquisition process server (3), and by being calculated unmanned plane coordinate information in map.
A kind of alignment system for unmanned plane precision navigation the most according to claim 1, it is characterized in that: described PC end (4) is mainly used in the preset course line of map making, and receive the coordinate information that data acquisition process server is uploaded, show unmanned plane real time position in map at PC end (5).
A kind of alignment system for unmanned plane precision navigation the most according to claim 1, it is characterized in that: described ground base station (2) is distributed in ground everywhere, wirelessly measurement ground base station is to the distance of unmanned plane, and the range information obtained is reported data acquisition process server.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521076267.5U CN205427178U (en) | 2015-12-21 | 2015-12-21 | A positioning system for accurate navigation of unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201521076267.5U CN205427178U (en) | 2015-12-21 | 2015-12-21 | A positioning system for accurate navigation of unmanned aerial vehicle |
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| CN205427178U true CN205427178U (en) | 2016-08-03 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106597369A (en) * | 2016-12-07 | 2017-04-26 | 中国联合网络通信集团有限公司 | Control method, control platform and control system for unmanned planes |
| CN108896037A (en) * | 2018-06-21 | 2018-11-27 | 国网浙江省电力有限公司 | A kind of bluetooth active electronic label and the Navigation of Pilotless Aircraft positioning system being made of it |
| CN113708786A (en) * | 2021-09-27 | 2021-11-26 | 一飞智控(天津)科技有限公司 | Formation airplane radio station signal and data acquisition method, airplane radio station, medium and application |
-
2015
- 2015-12-21 CN CN201521076267.5U patent/CN205427178U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106597369A (en) * | 2016-12-07 | 2017-04-26 | 中国联合网络通信集团有限公司 | Control method, control platform and control system for unmanned planes |
| CN106597369B (en) * | 2016-12-07 | 2019-03-26 | 中国联合网络通信集团有限公司 | A kind of control method of unmanned plane, control platform, control system |
| CN108896037A (en) * | 2018-06-21 | 2018-11-27 | 国网浙江省电力有限公司 | A kind of bluetooth active electronic label and the Navigation of Pilotless Aircraft positioning system being made of it |
| CN113708786A (en) * | 2021-09-27 | 2021-11-26 | 一飞智控(天津)科技有限公司 | Formation airplane radio station signal and data acquisition method, airplane radio station, medium and application |
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| C14 | Grant of patent or utility model | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160803 Termination date: 20171221 |
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| CF01 | Termination of patent right due to non-payment of annual fee |