CN205898998U - Unmanned aerial vehicle's navigation control system - Google Patents
Unmanned aerial vehicle's navigation control system Download PDFInfo
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- CN205898998U CN205898998U CN201620715833.0U CN201620715833U CN205898998U CN 205898998 U CN205898998 U CN 205898998U CN 201620715833 U CN201620715833 U CN 201620715833U CN 205898998 U CN205898998 U CN 205898998U
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Abstract
The utility model discloses an unmanned aerial vehicle's navigation control system, include: a plurality of positioning base station, the server for the position of selecting positioning base station place is as origin of coordinate, in order opening basic station location label, gives other positioning base station with self basic station send location information, and receive base stations positional information in order calculating the distance between adjacent positioning base station, and founds the space coordinate system in the regional space of navigation, closes basic station location label, when getting into the regional space of navigation at unmanned aerial vehicle, and every positioning base station receipt unmanned aerial vehicle positional information, and receive every positioning base station received unmanned aerial vehicle positional information to navigate to unmanned aerial vehicle in the space coordinate system in the regional space of navigation according to unmanned aerial vehicle positional information. The utility model discloses navigation control system can realize the accurate control of unmanned aerial vehicle's intelligence, has improved the accuracy of control, has reduced unmanned aerial vehicle's positioning error, has strengthened unmanned aerial vehicle's adaptability and security.
Description
Technical field
The utility model is related to unmanned air vehicle technique field, particularly to a kind of navigation control system of unmanned plane.
Background technology
Gradually ripe with unmanned air vehicle technique, unmanned plane have started to progressively towards be more widely applied space promote.Example
As, Alibaba launches the unmanned plane service of delivering goods test of 3 days by a definite date on Beijing, Shanghai, Guangzhou three ground, using unmanned plane by box
Dress ginger tea passs client soon.However, unmanned plane can't directly fly to client in front of the door in application, but logistics website can be flown to,
The delivery of " last one kilometer " is still responsible for by courier.Abroad, Amazon is in the U.S. and Dou You unmanned plane test center of Britain,
And Amazon represents that its target is to deliver in millions of client's hands using unmanned vehicle by parcel, client is most etc. after placing an order
Half an hour parcel can be delivered to.In addition, CNN's network (cnn) has obtained by Federal Aviation management board
(faa) licence plate issued, test is equipped with camera, is used for the unmanned plane of news report.And, positioned at Dutch non-profit group
Knit the mechanisms such as shadow visual field foundation be currently in use through repacking unmanned vehicle, for protection endangered species provide close bond number
According to its aircraft widely uses in Africa input.Wherein, Environmental Protection in China department has started to use unmanned plane, to iron and steel,
The blowdown of the key enterprise such as coking, electric power, desulfurization equipment are directly checked situations such as operation.
However, civilian unmanned aerial vehicle (UAV) control is all controlled by the way of manual remote control device.Wherein, the control of manual remote control device
Although it is mode relative straightforward processed, flexible, with the continuous expansion of civilian unmanned plane range of application, manually operated mode
Gradually constrain its popularization.For example, at present all using manually control mode, every frame plant protection unmanned plane all needs plant protection unmanned plane
It is equipped with the control to carry out unmanned plane for the professional control staff, lead to seriously hinder the popularization in plant protection field for the unmanned plane.Cause
This, unartificial Intelligent unattended machine control technology is badly in need of solving.And restrict a big technical barrier of UAV Intelligent control at present
It is exactly the accuracy of signal framing.At present, all using gps, (global positioning system, the whole world is fixed for framing signal
Position system) etc. space orientation signal, and unmanned plane often the gps signal such as field to be applied to, intermountain, farmland, high building weaker or
It is the area of space being blocked, be easily caused the framing signal more misalignment of gps, substantially all in 10 meter levels, such position error
It is that civilian unmanned plane institute is unacceptable.In addition, some alignment system cloth field types existing are complicated, need manually to accurately measure cloth
, and same set of alignment system is only suitable for repeatedly using in fixed-site, and various cloth field areas cannot be applied to, no
Method fast automatic cloth field.
That is, the unmanned aerial vehicle (UAV) control method in correlation technique exists, position error is big, control accuracy is low, cloth field is numerous
Trivial the problems such as, lead to applicability and the security reducing unmanned plane.
Utility model content
The utility model is intended at least solve one of technical problem in above-mentioned correlation technique to a certain extent.
For this reason, the purpose of this utility model is to propose a kind of navigation control system of unmanned plane, this system can improve
The accuracy controlling, reduces the position error of unmanned plane, simply easily realizes.
For reaching above-mentioned purpose, the utility model proposes a kind of navigation control system of unmanned plane, comprising: multiple positioning
Base station, the plurality of locating base station is arranged in the navigation area of unmanned plane；Server, for selecting from the plurality of locating base station
Select the origin of coordinates as described navigation area space for the position at a locating base station place, to open the base of each locating base station
Stand firm a label, and the base station position information of itself is sent to by other locating base station by described architecture label, connect
Receive the base station position information of the other locating base station receiving of each locating base station transmission, with according to each positioning base described
The base station location of other locating base station that station receives calculates the distance between adjacent locating base station, and former according to described coordinate
Distance between point and adjacent locating base station builds the space coordinates in described navigation area space, and closes each positioning base
The architecture label stood, so that when described unmanned plane enters described navigation area space, each locating base station receives described nothing
Man-machine fuselage positions the unmanned plane positional information that label sends；And receive the described nothing that each locating base station described receives
Man-machine unmanned plane positional information, with according to described unmanned plane positional information in the space coordinates in described navigation area space
Described unmanned plane is navigated.
According to the utility model proposes unmanned plane navigation control system, without gps signal support in the case of, lead to
Cross and arrange multiple locating base station in the navigation area space of unmanned plane, using the position at a locating base station place as navigation area
The origin of coordinates in space, thus being navigated to unmanned plane in navigation area space coordinates according to unmanned plane positional information,
And then realize the accurate accuracy controlling, improving control of the intelligence of unmanned plane, reduce the position error of unmanned plane, enhancing unmanned plane
Adaptability and security, cloth field is easy
Further, described server includes wifi signal amplifier, radio signal amplifier, data processor, deposits
Reservoir, power supply.
Further, each locating base station described includes at least one aerial array, and at least one aerial array described is used
In transmission time information and the angular position information of the base station position information receiving described other locating base station, generate simultaneously and connect
Receive temporal information.
Preferably, described base station position information includes id information, serial number and time point information.
Further, the plurality of locating base station and described server pass through wireless access consolidated network, to realize the time
Synchronous.
The aspect that the utility model adds and advantage will be set forth in part in the description, partly will be from explained below
In become obvious, or recognized by practice of the present utility model.
Brief description
Above-mentioned and/or additional aspect of the present utility model and advantage will from reference to the description to embodiment for the accompanying drawings below
Become obvious and easy to understand, wherein:
Fig. 1 is the flow chart of the navigation control method of the unmanned plane according to the utility model embodiment；
Fig. 2 is the flow chart of the navigation control method of the unmanned plane according to one embodiment of the utility model；
Fig. 3 is the principle schematic of quick distance measurement between multiple locating base station according to one embodiment of the utility model；
Fig. 4 is the control flow chart that unmanned plane is navigated according to one embodiment of the utility model；And
Fig. 5 is the structural representation of the navigation control system of the unmanned plane according to the utility model embodiment.
Specific embodiment
Embodiment of the present utility model is described below in detail, the example of described embodiment is shown in the drawings, wherein ad initio
To the element that same or similar label represents same or similar element or has same or like function eventually.Below by ginseng
The embodiment examining Description of Drawings is exemplary it is intended to be used for explaining the utility model, and it is not intended that to the utility model
Restriction.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or hint relative importance
Or the implicit quantity indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include one or more this feature.In description of the present utility model, " multiple " are meant that two or two
More than, unless otherwise expressly limited specifically.
In the utility model, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection ", " Gu
Fixed " etc. term should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be to be mechanically connected or electrical connection；Can be to be joined directly together it is also possible to be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, above-mentioned term can be understood as the case may be
Concrete meaning in the utility model.
In the utility model, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or it
D score can include the first and second feature directly contacts it is also possible to include the first and second features not to be directly contact but logical
Cross the other characterisation contact between them.And, fisrt feature second feature " on ", " top " and " above " include the
One feature is directly over second feature and oblique upper, or to be merely representative of fisrt feature level height be higher than second feature.First is special
Levy second feature " under ", " lower section " and " below " include fisrt feature immediately below second feature and obliquely downward, or only
Represent that fisrt feature level height is less than second feature.
Navigation control method and the control of the unmanned plane being proposed according to the utility model embodiment are described with reference to the accompanying drawings
System, describes the navigation control method of the unmanned plane proposing according to the utility model embodiment first with reference to the accompanying drawings.With reference to Fig. 1
Shown, this navigation control method comprises the following steps:
S101, arranges multiple locating base station in the navigation area space of unmanned plane, wherein, each locating base station includes base station
Positioning label.
Specifically, the navigation area space navigated by water according to needed for unmanned plane, arranges locating base station in spatial bounding area, and
Corresponding server sets up information communication.
S102, selects the coordinate as navigation area space for the position at a locating base station place from multiple locating base station
Initial point.That is, choosing the origin of coordinates that a locating base station is defined as Bu Chang space.
S103, opens the architecture label of each locating base station, and by architecture label by the base station position of itself
Confidence breath is sent to other locating base station.
Wherein, open the positioning label of each locating base station by server, architecture label can pass through wireless communication
Number position information is sent to other each locating base station.
S104, the base station position information of the other locating base station receiving is sent to server by each locating base station.
Wherein, in an embodiment of the present utility model, server includes wifi signal amplifier, radio signal is put
Big device, data processor, memory, power supply.
Specifically, server can include wifi signal amplifier, radio signal amplifier, data processor, storage
The devices such as device, power supply, are portable wireless network system, and its own can be communicated with locating base station by wireless signal, no
The signals such as space positioning system gps are needed to support.
Preferably, in an embodiment of the present utility model, base station position information includes id information, serial number and time
Point information.
Further, in an embodiment of the present utility model, each locating base station includes at least one aerial array,
At least one aerial array is used for receiving the transmission time information of base station position information and the angle position of other locating base station
Information, generates receiving time information simultaneously.
Specifically, in an embodiment of the present utility model, the ranging data being received all is fed back by each locating base station
To server.Wherein, locating base station is integrated form signal receiving device, comprises an antenna array structure simultaneously, can receive base
The positional informations such as time that the label of standing firm sends, angle, can generate receiving time information during receive information simultaneously, and according to
Unmanned plane purposes, locating base station can be set to the multi-forms such as box-like, shaft-like, plate-like, and its fabricating yard, mounting condition,
Mounting means requires low, fast and easy.
Further, architecture label is position signalling emitter, and it can be by the id information of position, serial number
Launched by pulse signal with time point information etc., this signal specific information is only capable of being positioned base station and receives, and then passes through
Repeatedly feedback of the information measurement, distance that can accurately between different base station.
Further, the signal that locating base station signal receiver can be sent by detection positioning label, to calculate label
Physical location；In the course of the work, each locating base station independently measures deflection and the elevation angle of receipt signal, and arrival time
Difference information then must be measured by a pair of sensors, and this two sensors all deploy time synchronized line, by this integrated form
The receipt signal of dual sensor measures, and more can accurately determine relative distance information in three dimensions.
Further, in an embodiment of the present utility model, multiple locating base station pass through wireless access with server
Consolidated network, to realize time synchronized.
S105, the base station location calculating of other locating base station that server receives according to each locating base station is adjacent
Distance between locating base station, and the space in navigation area space is built according to the distance between the origin of coordinates and adjacent locating base station
Coordinate system.
Specifically, server is all repeatedly calculated to every group of ranging data, takes every cell mean as adjacent positioned base
The accurate distance value stood, simultaneously according to locating base station origin and each relative distance, builds in locating base station coverage
Space coordinates.
Further, initial point base station is locating base station, the requirement in its Bu Chang space according to needed for unmanned plane during flying, chooses
From server recently, the ideal locating base station of geographical conditions is initial point base station, and defining its space coordinates is (0,0,0), its
Remaining each locating base station, after relatively finding range, is all converted into 3 d space coordinate form, builds the space in the range of locating base station
Coordinate system, realizes the conversion to digital information for the geography information.
S106, closes the architecture label of each locating base station, with unmanned plane enter navigation area space when, each
The fuselage that locating base station receives unmanned plane positions the unmanned plane positional information that label sends.
S107, each locating base station sends the unmanned plane positional information of the unmanned plane receiving to server.
S108, server is carried out to unmanned plane in the space coordinates in navigation area space according to unmanned plane positional information
Navigation.
Specifically, finally by server, the positioning label in each locating base station is closed, complete the space of defined area
The work of range finding cloth field.And then, unmanned plane during flying flight course planning can be become continuous coordinate points, realize the intelligence control to unmanned plane
System.
It should be noted that the utility model embodiment can ensure that the flight deviation of unmanned plane, within 10cm, improves
The accuracy controlling, the UAV Intelligent being particularly well-suited to no (faint) satellite-signal area of space controls, and cloth field high precision is fitted
Wide with scope.
It should be understood that the setting of step s101 and step s108 is only for the convenience of description, rather than the holding of method for limiting
Row order.
In short, in an embodiment of the present utility model, first, the regional space of navigation according to needed for unmanned plane,
Arrange locating base station in spatial bounding area, and corresponding server sets up information communication, choose a positioning base simultaneously
Station is defined as the origin of coordinates in Bu Chang space；Open the positioning label of each locating base station, architecture label by server
By wireless signal, position information is sent to other each locating base station, each locating base station will be equal for the ranging data being received
Feed back to server；Server is all repeatedly calculated to every group of ranging data, takes every cell mean as adjacent positioned base station
Accurate distance value；Server, simultaneously according to locating base station origin and each relative distance, builds locating base station coverage
Interior space coordinates；Finally by server, the positioning label in each locating base station is closed, complete the space of defined area
The work of range finding cloth field.And then, unmanned plane during flying flight course planning can be become continuous coordinate points, realize the intelligence control to unmanned plane
System.The utility model positioning, range finding, cloth field signal are independent control, without satellite-signals such as gps, are particularly well-suited to no (micro-
Weak) UAV Intelligent of satellite-signal area of space controls.
Wherein, in embodiment of the present utility model, the utility model embodiment by server, locating base station and can be joined
The software and hardwares such as the locating base station label of set are realized.Server and locating base station can carry out real-time communication by wireless signal, positioning
Base station can achieve Rapid Relative range determination with positioning label by the mensure of pulse signal, and then by the accurate meter of server
Calculate, the physical location information in the range of locating base station is changed into spatial coordinate location information, realizes the numeral in defined area
Change Based Intelligent Control.
Specifically, compared with prior art, it clear advantage is that the utility model embodiment:
(1) rely at present the UAS positioning precision that the space orientation signals such as gps are positioned substantially in meter level, when
When space orientation signal is weaker or is blocked, framing signal precision will reach 10 meter levels, or even cannot be carried out positioning.This practicality
After completing cloth field, it is no longer rely on the space orientation signal such as gps to new embodiment, and is carried out unmanned by systems own signal
Machine positions, and its precision can reach 10 Centimeter Level, and control accuracy is far above existing control method.
(2) the utility model embodiment can achieve the communication contact of wireless network, need not carry out network line during cloth field
Build it is only necessary to fix locating base station server to get final product rapid build LAN, cloth field is convenient, fast, applicable landform model
Enclose wide, being precisely controlled in this region can be carried out to unmanned plane.
(3) complicated geographical location information can be changed into the coordinate system digitlization letter of standard by the utility model embodiment
Breath, is conducive to UAS is carried out accurately Based Intelligent Control, improves the safety and reliability of UAV Flight Control.
(4) locating base station of the utility model embodiment and positioning label are exclusive corresponding relation, the unmanned plane being controlled
Exclusive positioning label is also equipped with fuselage, so the utility model embodiment is in terms of range finding cloth field and unmanned plane flight course control,
Communication signal is privileged system signal, has extremely strong signal antijamming capability, and ensure that cloth field and flight control
Accuracy.
2 to accompanying drawing 4 is described in detail with reference to the accompanying drawings.
In an embodiment of the present utility model, with reference to shown in Fig. 2, the utility model embodiment is according to needed for unmanned plane
The regional space of navigation, arranges locating base station by manual type in spatial bounding area first, and corresponding server is built
Vertical information communication, chooses the origin of coordinates that a locating base station is defined as Bu Chang space simultaneously；Each is opened by server fixed
The positioning label of position base station, architecture label is sent position information to other each locating base station by wireless signal,
The ranging data being received all is fed back to server by each locating base station；Server is all repeatedly counted to every group of ranging data
Calculate, take every cell mean as the accurate distance value of adjacent positioned base station；Server simultaneously according to locating base station origin and
Each relative distance, builds the space coordinates in locating base station coverage；Finally by server by each locating base station
Positioning label is closed, and completes the space ranging cloth field work of defined area.And then, unmanned plane during flying flight course planning can be become continuous
Coordinate points, realize Based Intelligent Control to unmanned plane.
In an embodiment of the present utility model, with reference to shown in Fig. 3, Fig. 3 is quick distance measurement between multiple locating base station
Schematic diagram, wherein, 1 expression original point position base station, 2 expression locating base station, 3 expression locating base station labels, 4 expression servers.
Specifically, server 4 includes the dress such as wifi signal amplifier, radio signal amplifier, data processor, memory, power supply
Put, be portable wireless network system, cloth field area of space can be directly seated to according to cloth field demand, its own can be by no
Line signal and locating base station are communicated, and support without signals such as space positioning system gps.Locating base station 2 is integrated form signal
Reception device, comprises an antenna array structure simultaneously, can receive time, the angle equipotential confidence of the transmission of architecture label
Breath, can generate receiving time information simultaneously during receive information；And according to unmanned plane purposes, locating base station can be set to box-like,
The multi-forms such as shaft-like, plate-like；Its fabricating yard, mounting condition, mounting means require low, fast and easy.Architecture label 3
For position signalling emitter, the id information of position, serial number and time point information etc. can be entered by it by pulse signal
Row transmitting, this signal specific information is only capable of being positioned base station and receives, and then measures by multiple feedback of the information, can accurate difference bases
Distance between standing.In each locating base station 2 can integrated 1 architecture label 3, both being made of one in structure.
Architecture label 3 when server 4 and locating base station 2 install, after setting up communication, in each locating base station 2
To the reception device of other locating base station 2, locating base station 2 is only capable of receiving locating base station label 3 all transmitting location information signals
The signal message of transmitting, and this signal message is reached server 4 calculated；And architecture label 3 is only capable of transmission signal,
And it is unable to receipt signal information.And the measurement of every group of measurement data is averaged for n time, as each locating base station 2 between with respect to away from
From, the coordinate (0,0,0) thus according to original point position base station 1, and remaining each locating base station 2 passes through relative measurement distance, all
It is converted into 3 d space coordinate form, build the space coordinates in the range of locating base station 2, realize geography information to digital information
Conversion.
Further, in an embodiment of the present utility model, shown in reference Fig. 4, after completing cloth field, the utility model
Embodiment will carry out the Based Intelligent Control in accurate course line to unmanned plane.First, to install additional on the unmanned aerial vehicle body of required control with
The corresponding unmanned aerial vehicle body positioning label of the system, this label is consistent with ground base station positioning label 3 in principle, so as to
Enough send the positional information of itself is received to terrestrial positioning base station 2, and label itself is unable to receipt signal.Therefore, complete
After becoming cloth field, ground base station positions label 3 Close All, and the location information signal that now unmanned aerial vehicle body positioning label sends is same
When received by multiple terrestrial positioning base stations 2, this signal is all fed back to server 4 by each ground locating base station 2 simultaneously simultaneously
In, this signal message, according to real-time calculation and analysis, can be changed into control signal by server 4, fly control to unmanned plane and carry out in real time
Control, and then ensure that unmanned plane is flown according to the course line coordinate points of planning.
Now, unmanned plane is equivalent to coordinate points in Bu Chang space all the time, can will should " fly before unmanned plane takes off
The dynamic flight trajectories of point " are cooked up, and then complete, by server 4, the work that this flight path changes into continuous space coordinate points
Make, thus unmanned plane can complete non-stop flight task, realization need not be artificial according to the coordinate points planned in Bu Chang space
The Intelligent flight pattern controlling.
The navigation control method of the unmanned plane being proposed according to the utility model embodiment, in the feelings supported without gps signal
Under condition, by arranging multiple locating base station in the navigation area space of unmanned plane, the position that is located using locating base station as
The origin of coordinates in navigation area space, thus enter to unmanned plane in navigation area space coordinates according to unmanned plane positional information
Row navigation, and then realize the intelligence accurately control of unmanned plane, improve the accuracy controlling, reduce the position error of unmanned plane, increase
The adaptability of strong unmanned plane and security, cloth field is easy.
Secondly the navigation control system of the unmanned plane being proposed according to the utility model embodiment is described with reference to the accompanying drawings.Reference
Shown in Fig. 5, this navigation control system 10 includes: multiple locating base station (as figure locating base station 101, locating base station 102 ..., positioning
Shown in the 10n of base station) server 200.
Wherein, multiple locating base station are arranged in the navigation area of unmanned plane.Server 200 is used for from multiple locating base station
Select the origin of coordinates as navigation area space for the position at a locating base station place, to open the base station of each locating base station
Positioning label, and the base station position information of itself is sent to by other locating base station, server 200 by architecture label
It is additionally operable to receive the base station position information of the other locating base station receiving of each locating base station transmission, with fixed according to each
The base station location of other locating base station that position base station receives calculates the distance between adjacent locating base station, and former according to coordinate
Distance between point and adjacent locating base station builds the space coordinates in navigation area space, and server 200 is additionally operable to close
Close the architecture label of each locating base station, so that when unmanned plane enters navigation area space, each locating base station receives no
Man-machine fuselage positions the unmanned plane positional information that label sends；And receive the nothing of the unmanned plane that each locating base station receives
Man-machine positional information, to lead to unmanned plane in the space coordinates in navigation area space according to unmanned plane positional information
Boat.The intelligence that the navigation control system 100 of the utility model embodiment can realize unmanned plane accurately controls, and improves control
Accuracy, reduces the position error of unmanned plane.
Further, in an embodiment of the present utility model, server 200 includes wifi signal amplifier, wireless
Electric signal amplifier, data processor, memory, power supply.
Further, in an embodiment of the present utility model, each locating base station includes at least one aerial array,
At least one aerial array is used for receiving the transmission time information of base station position information and the angle position of other locating base station
Information, generates receiving time information simultaneously.
Preferably, in an embodiment of the present utility model, base station position information includes id information, serial number and time
Point information.
Further, in an embodiment of the present utility model, multiple locating base station pass through wireless access with server
Consolidated network, to realize time synchronized.
It should be understood that can be with this according to the process that implements of the navigation control system of the unmanned plane of the utility model embodiment
The workflow of the navigation control method of the unmanned plane of utility model embodiment is identical, is not described in detail herein.
The navigation control system of the unmanned plane being proposed according to the utility model embodiment, in the feelings supported without gps signal
Under condition, by arranging multiple locating base station in the navigation area space of unmanned plane, the position that is located using locating base station as
The origin of coordinates in navigation area space, thus enter to unmanned plane in navigation area space coordinates according to unmanned plane positional information
Row navigation, and then realize the intelligence accurately control of unmanned plane, improve the accuracy controlling, reduce the position error of unmanned plane, increase
The adaptability of strong unmanned plane and security, cloth field is easy.
In flow chart or here any process described otherwise above or method description are construed as, represent and include
The module of the code of executable instruction of one or more steps for realizing specific logical function or process, fragment or portion
Point, and the scope of preferred embodiment of the present utility model includes other realization, wherein can not press shown or discuss
Order, including according to involved function by substantially simultaneously in the way of or in the opposite order, carry out perform function, this should by this
The embodiment person of ordinary skill in the field of utility model is understood.
Represent in flow charts or here logic described otherwise above and/or step, for example, it is possible to be considered as to use
In the order list of the executable instruction realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (system as computer based system, including processor or other can hold from instruction
Row system, device or equipment instruction fetch the system of execute instruction) use, or with reference to these instruction execution systems, device or set
Standby and use.For the purpose of this specification, " computer-readable medium " can any can be comprised, store, communicate, propagate or pass
Defeated program is for instruction execution system, device or equipment or the dress using with reference to these instruction execution systems, device or equipment
Put.The more specifically example (non-exhaustive list) of computer-readable medium includes following: has the electricity of one or more wirings
Connecting portion (electronic installation), portable computer diskette box (magnetic device), random access memory (ram), read-only storage
(rom), erasable edit read-only storage (eprom or flash memory), fiber device, and portable optic disk is read-only deposits
Reservoir (cdrom).In addition, computer-readable medium can even is that the paper that can print described program thereon or other are suitable
Medium, because edlin, interpretation or if necessary with it can then be entered for example by carrying out optical scanner to paper or other media
His suitable method is processed to electronically obtain described program, is then stored in computer storage.
It should be appreciated that each several part of the present utility model can be realized with hardware, software, firmware or combinations thereof.?
In above-mentioned embodiment, multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Software or firmware are realizing.For example, if realized with hardware, and the same in another embodiment, can use known in this field
Any one of following technology or their combination realizing: there is the gate for data-signal is realized with logic function
The discrete logic of circuit, has a special IC of suitable combinational logic gate circuit, programmable gate array (pga),
Field programmable gate array (fpga) etc..
Those skilled in the art are appreciated that to realize all or part step that above-described embodiment method carries
Suddenly the program that can be by completes come the hardware to instruct correlation, and described program can be stored in a kind of computer-readable storage medium
In matter, this program upon execution, including one or a combination set of the step of embodiment of the method.
Additionally, can be integrated in a processing module in each functional unit in each embodiment of the utility model,
Can be that unit is individually physically present it is also possible to two or more units are integrated in a module.Above-mentioned integrated
Module both can be to be realized in the form of hardware, it would however also be possible to employ the form of software function module is realized.Described integrated mould
If block is using realization in the form of software function module and as in terms of when independent production marketing or use it is also possible to be stored in one
In calculation machine read/write memory medium.
Storage medium mentioned above can be read-only storage, disk or CD etc..
In the description of this specification, reference term " embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy describing with reference to this embodiment or example
Point is contained at least one embodiment of the present utility model or example.In this manual, the schematic table to above-mentioned term
State and be not necessarily referring to identical embodiment or example.And, the specific features of description, structure, material or feature can be
Combine in an appropriate manner in any one or more embodiments or example.
Although of the present utility model embodiment has been shown and described above it is to be understood that above-described embodiment is
Exemplary it is impossible to be interpreted as that those of ordinary skill in the art is without departing from the utility model to restriction of the present utility model
Principle and objective in the case of above-described embodiment can be changed in the range of the utility model, change, replace and
Modification.
Claims (5)
1. a kind of navigation control system of unmanned plane is it is characterised in that include:
Multiple locating base station, the plurality of locating base station is arranged in the navigation area of unmanned plane；
Server, for selecting the position at a locating base station place as described navigation area from the plurality of locating base station
The origin of coordinates in space, to open the architecture label of each locating base station, and by described architecture label by itself
Base station position information be sent to other locating base station, receive each locating base station transmission the other positioning bases receiving
The base station position information stood, the base station location of the other locating base station to be received according to each locating base station described calculates phase
Distance between adjacent locating base station, and described cruising ground is built according to the distance between the described origin of coordinates and adjacent locating base station
The space coordinates of domain space, and close the architecture label of each locating base station, described to enter in described unmanned plane
During navigation area space, the fuselage that each locating base station receives described unmanned plane positions the unmanned plane positional information that label sends；
And receive the unmanned plane positional information of the described unmanned plane that each locating base station described receives, with according to described unmanned seat in the plane
Confidence breath navigates to described unmanned plane in the space coordinates in described navigation area space.
2. the navigation control system of unmanned plane according to claim 1 is it is characterised in that described server includes wifi letter
Number amplifier, radio signal amplifier, data processor, memory, power supply.
3. the navigation control system of unmanned plane according to claim 1 is it is characterised in that each locating base station described includes
At least one aerial array, at least one aerial array described is used for receiving the base station position information of described other locating base station
Transmission time information and angular position information, simultaneously generate receiving time information.
4. the navigation control system of unmanned plane according to claim 1 is it is characterised in that described base station position information includes
Id information, serial number and time point information.
5. the navigation control system of unmanned plane according to claim 1 is it is characterised in that the plurality of locating base station and institute
State server and pass through wireless access consolidated network, to realize time synchronized.
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| CN106093855A (en) * | 2016-07-07 | 2016-11-09 | 中国矿业大学 | The navigation control method of unmanned plane and control system |
| CN107291092A (en) * | 2017-06-15 | 2017-10-24 | 上海工程技术大学 | A kind of air-ground coordination UAS of WiFi supports |
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| CN106093855A (en) * | 2016-07-07 | 2016-11-09 | 中国矿业大学 | The navigation control method of unmanned plane and control system |
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Effective date of registration: 20201218 Address after: 210029 No. 213 Guangzhou Road, Gulou District, Nanjing City, Jiangsu Province Patentee after: Xinchuangtong (Nanjing) semiconductor technology Co.,Ltd. Address before: China University of mining and technology, No.1, Daxue Road, Xuzhou City, Jiangsu Province, 221116 Patentee before: China University of Mining and Technology |