CN207051475U - A kind of Portable unmanned machine multi-station positioning system - Google Patents
A kind of Portable unmanned machine multi-station positioning system Download PDFInfo
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- CN207051475U CN207051475U CN201721070106.4U CN201721070106U CN207051475U CN 207051475 U CN207051475 U CN 207051475U CN 201721070106 U CN201721070106 U CN 201721070106U CN 207051475 U CN207051475 U CN 207051475U
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Abstract
The utility model proposes a kind of Portable unmanned machine multi-station positioning system, the system is made up of terrestrial components and on-board component.Terrestrial components are at least provided with 4 sets, and wherein at least 1 set of terrestrial components are with other set terrestrial components not in a plane.Often covering terrestrial components includes ground base station, base station fixed support, ground launch antenna, and wherein ground base station and ground launch antenna is installed on the fixed support of base station, be attached between ground base station and ground launch antenna by cable；Using any ground base station as master base station, it is synchronous that other ground base stations with master base station enter row clock by cable connection.On-board component includes airborne receiving antenna, ranging component and position and resolves component, can also be provided with altimeter；Wherein ranging component resolves component with airborne receiving antenna and position respectively by cable and is attached.The system, which has, is easy to dismounting and portable, high in the positioning precision of regional area, the advantages that can providing positioning service in the case of power-off or without externally fed.
Description
Technical field
Unmanned plane local area localization technical field is the utility model is related to, it is particularly a kind of under satellite defence environment
Unmanned plane Position Fixing Navigation System and method, for realizing that regional area of the unmanned plane under satellite fix failure conditions is high-precision fixed
Position, especially UAV Landing stage, particularly suitable for rotor wing unmanned aerial vehicle.
Background technology
Currently, most common unmanned plane high-accuracy position system be satellite navigation positioning (GPS) system, but indoors without
Method normally receives satellite navigation system signals, and satellite-signal is easily disturbed under Military Application scene, and is controlled by other country, wartime
It is unreliable.Therefore, the unmanned plane positioning under indoor and Military Application scene, the high accuracy positioning side of other means is generally required
Method.Most common inertial navigation Positioning System is not high, and with the increase of time accumulated error；Radar fix system equipment
Huge, positioning precision is limited；Optics and vision positioning method are easily influenceed by ambient weather.
Multi-station positioning system is positioned similar to satellite navigation, and the letter similar to aeronautical satellite form is sent by ground base station
Number, because the closely several magnitudes of distance of aeronautical satellite and receiver user are compared in base station, therefore the signal intensity received is high, tool
There is stronger antijamming capability；And need not be expensive high-precision atomic clock, and without launching costs, thus cost compared with
It is low；Base station can motor-driven setting as needed, may be mounted on mobile platform.Therefore, can be broken away from using multi-station positioning system
Dependence to gps satellite positioning, availability, stability, reliability and the measurement accuracy of lifting unmanned plane positioning.
Utility model content
In order to realize the high accuracy positioning of unmanned plane regional area, it is more that the utility model provides a kind of Portable unmanned machine
Stand alignment system, the signal that need not be authorized by ground base station transmitting, unmanned plane passes through airborne receiving antenna and receives ground base
Stand after the signal sent, reception antenna is measured to the distance of multiple ground base stations by the ranging component installed on unmanned plane, so
Component is resolved by position afterwards and calculates locus of the unmanned plane in relative coordinate system.
The utility model proposes a kind of Portable unmanned machine multi-station positioning system, specifically by terrestrial components and on-board component
Composition.
Terrestrial components are at least provided with 4 sets, and wherein at least 1 set of terrestrial components are not also with other set terrestrial components in a plane
Interior, its purpose is to improve the positioning precision of regional area.Often covering terrestrial components includes ground base station, base station fixation branch
Frame, ground launch antenna；Wherein ground base station and ground launch antenna is installed on the fixed support of base station, ground base station and ground
It is attached between surface launching antenna by cable；Using any ground base station as master base station, other ground base stations lead to master base station
Cross cable connection and enter row clock synchronization, by entering row clock synchronization, can further reduce error, improve the positioning of regional area
Precision.
On-board component includes airborne receiving antenna, ranging component and position and resolves component；Wherein, ranging component passes through cable
Component is resolved with airborne receiving antenna and position respectively to be attached.
Preferably, altimeter is additionally provided with on-board component, altimeter resolves component with position and is attached by cable.It is logical
Setting altimeter is crossed, the elevation information that altimeter is measured passes to position and resolves component, can further improve regional area
Positioning precision.
Preferably, often cover and be provided with one-to-one docking between ground base station and base station fixed support in terrestrial components
Disk.By setting butt plate, ground base station and base station fixed support can be easily connected in the case of without using instrument；And
And it can avoid being placed to ground base station on the base station fixed support of mistake.
Preferably, fixed support band in base station is magnetic, and this will be easy to base station fixed support being flexibly installed to other iron
Magnetic bodies surface.
Preferably, airborne receiving antenna is 1 or 2.When airborne receiving antenna is 1, it is only capable of realizing unmanned plane in office
The high accuracy positioning in portion region；When airborne receiving antenna is 2, unmanned plane can not only be realized in the high-precision fixed of regional area
Position, and the posture of unmanned plane can be measured.
Preferably, airborne receiving antenna is arranged on by shock absorber on the longitudinal axis of unmanned plane body.In order to reduce unmanned plane
Influence of the body vibration to airborne receiving antenna, improves positioning precision, and airborne receiving antenna installs shock absorber additional when mounted.Generally
Airborne receiving antenna is arranged on the longitudinal axis of unmanned plane body, when airborne receiving antenna is 2, general front and rear installation.
Preferably, ground launch antenna is hemispherical antenna, and the theaomni-directional transmission of signal can be achieved.
Preferably, when provided with altimeter, the horizontally or vertically distance at the center of altimeter to a certain airborne receiving antenna
It should be less than 10cm；That is the center of altimeter to the horizontally or vertically distance of a nearest airborne receiving antenna all should
Less than 10cm.By controlling the distance between altimeter and airborne receiving antenna, the positioning accurate of regional area can be further improved
Degree.
Preferably, altimeter is continuous wave constant difference making body radio altimeter.It is relative to vapour-pressure type altimeter etc.
For type altimeter, measurement accuracy is higher.
Preferably, battery is additionally provided with inside ground base station.By setting battery, power-off may be implemented in or without externally fed
In the case of, the positioning service of regional area is provided for unmanned plane, further expands the systematic difference scope.
The beneficial effects of the utility model are：(1) system be easy to dismounting and portable, can motor-driven setting as needed, can
Use under various circumstances；(2) system is high in the positioning precision of regional area, especially can not receive satellite navigation in unmanned plane
Under signal condition, global position system can be substituted；(3) battery is provided with ground base station, can be in power-off or without externally fed
In the case of, the positioning service of regional area is provided for unmanned plane, had a wide range of application；(4) system architecture is simple, it is not necessary to expensive
High-precision atomic clock, and without launching costs, cost is relatively low, is adapted to large-scale use.
Brief description of the drawings
Fig. 1 is Portable unmanned machine multi-station positioning system composition and connection relationship diagram.
Embodiment
In order that those skilled in the art more fully understand the technical scheme in the application, with reference to the attached of the application
Figure, technical scheme in the embodiment of the present application is described.
Embodiment 1：
As shown in figure 1, a kind of Portable unmanned machine multi-station positioning system, is made up of terrestrial components 1 and on-board component.
Wherein, terrestrial components 1 are 4 sets, wherein there is 1 set of terrestrial components 1 with other set terrestrial components 1 not in a plane
Interior, often covering terrestrial components 1 includes ground base station 11, base station fixed support 12, ground launch antenna 13；Ground launch antenna 13
For hemispherical antenna；Ground base station 11 and ground launch antenna 13 are installed on base station fixed support 12, ground base station 11 with
It is attached between ground launch antenna 13 by cable；Master is used as using any one ground base station 11 in 4 ground base stations 11
Base station, it is synchronous that other ground base stations 11 with master base station enter row clock by cable connection.In addition, in the inside of ground base station 11 also
Provided with battery.
Wherein, on-board component includes airborne receiving antenna 21, ranging component 22, position resolving component 23, altimeter 24.Survey
Component 23 is resolved away from component 22 with airborne receiving antenna 21 and position respectively by cable to be attached；Altimeter 24 is continuous wave
Constant difference making body radio altimeter, resolve component 23 with position also by cable and be attached.
One-to-one docking is provided between ground base station 11 and base station fixed support 12 in every set terrestrial components 1
Disk, and the band of base station fixed support 12 is magnetic.
As shown in figure 1, airborne receiving antenna 21 is 2, it is arranged on respectively by shock absorber on the longitudinal axis of unmanned plane body；
2 airborne receiving antennas 21 are installed before and after the longitudinal axis along unmanned plane body.Altimeter 24 when mounted, should cause altimeter 24
Phase center is close to a certain airborne receiving antenna 21, and the phase center of altimeter 24 is apart from the water of this airborne receiving antenna 21
Flat or vertical range should be less than 10cm, so as to ensure high accuracy positioning of the unmanned plane in regional area.
Closed in order to which the connection of a kind of composition of foregoing Portable unmanned machine multi-station positioning system and each part is better described
System, the application method of the system is described further below.
(1) terrestrial components installation and localization region coordinate are set
By the butt plate on base station fixed support 12, ground base station 11 is fixed on base station fixed support 12；And will
Ground launch antenna 13 is installed on base station fixed support 12 by way of single hole fixation.Then by with magnetic base station
Fixed support 12, a whole set of terrestrial components 1 are flexibly mounted into the surface of ferromagnetic metal.
In alignment system, each ground base station 11 should be represented by a unique three-dimensional coordinate address.Therefore, it is determined that
After the coordinate system of good localization region, specific coordinate of each ground base station 11 relative to coordinate origin should be measured or demarcated.
(2) base station clock is synchronously set
Multistation location is that the radio signal launched based on ground base station 11 by ground launch antenna 13 reaches airborne connect
What the time of receipts antenna 21 was positioned, it is synchronous that this requires that the clock of ground base station 11 is realized.Due to ground base station 11 when
Between there may be difference, it is therefore necessary to the clocking error of ground base station 11 is calculated, calibrated for error.Will using cable
Each ground base station 11 is attached, and using a certain ground base station 11 as master base station, is then carried out the synchronous of time and is set and school
Just.Because system is calculated based on arrival time algorithm, after some base station is chosen as time zero-bit, other base stations obtain
The prover time gone out is relative to the error amount of this base station.
(3) on-board component is installed
2 airborne receiving antennas 21 are arranged on the longitudinal axis of unmanned plane body by shock absorber respectively, and cause 2 as far as possible
Distance between individual airborne receiving antenna 21 as far as possible, so as to improve positioning precision.Ranging component 22 is installed on body.
Position resolves component 23 can carry out the resolving of position according to the signal of reception, can specially set, can also rely on existing machine
Carry computer.The horizontal and vertical distance of the phase center of altimeter 24 and one of airborne receiving antenna 21 is maintained at 10cm
Within.The coordinate of measurement and demarcation two airborne antennas and altimeter in body axis system, and these coordinate values are recorded
Resolved in position in component 23.
(4) range measurement
Ground base station 11 use pseudo-random code spread-spectrum system, by ground launch antenna 13 transmitting modulated pseudo noise code and
The carrier signal of navigation message.The method of modulation is that spreading code forms compound key with text code mould 2 first, and then compound key is to carrying
Ripple is modulated, and is modulated using biphase phase shift keying.After airborne receiving antenna 21 receives the distance measuring signal from ground base station 11,
Ranging component 22 is filtered to signal, and amplification etc. removes various noises and interference, and by small and weak signal amplification and lower change
Frequency is obtained into baseband signal by replicating the local carrier consistent with the signal received and local ranging code, the receipts that achieve a butt joint
Carrier wave and ranging code phase measurement, and navigation message is demodulated from numeric data code, so as to calculate ground launch antenna 13
With the distance of airborne receiving antenna 21.Altimeter 24 earthward launches radio signal, and receives ground echo signal, then solves
Calculate the height number of unmanned plane.Range information and elevation information are sent to position by cable and resolved in component 23.
(5) position resolves
Position resolves component 23 and builds 4 Pseudo-range Equations using the pseudorange obtained from ranging component 22Wherein (xu,yu,zu) for unmanned plane in coordinate
Locus in system, wherein (xn,yn,zn) represent nth base station three-dimensional position, tuIt is expressed as ground base station 11 and ranging
The clock correction of component 22, while elevation information Δ z=h that altimeter 24 measures is added as subsidiary equation, use Newton iteration method
Resolve to obtain the positional information of unmanned plane or other navigation informations with Kalman filtering algorithm.In the present embodiment, due to using
2 airborne receiving antennas 21, therefore the pitch attitude information of unmanned plane can also be obtained.
Embodiment 2：
A kind of Portable unmanned machine multi-station positioning system in the present embodiment, its form and annexation and embodiment 1 in
System it is similar, the main distinction is：(1) terrestrial components 1 are 6 sets, wherein 4 sets are located in approximately the same plane, 2 sets of then positions in addition
Outside the plane；(2) altimeter 24 is not provided with on-board component；(3) quantity of airborne receiving antenna 21 in on-board component is 1
It is individual.
Alignment system in this implementation is primarily present following difference in use, with system in embodiment 1：
(1), it is necessary to build 6 Pseudo-range Equations when position resolves；
(2) elevation information need not be added as subsidiary equation；
(3) due to only having the pitch attitude information of 1 unmanned plane, the pitch attitude information of unmanned plane can not be measured.
The setting and use of other side are similar to Example 1, just no longer repeat one by one.
Finally it should be noted that the foregoing is only preferred embodiment of the present utility model, this practicality is not limited to
It is new, although utility model is described in detail with reference to the foregoing embodiments, for those skilled in the art, its
The technical scheme described in foregoing embodiments can still be modified, or which part technical characteristic is equal
Replace.All any modification, equivalent substitution and improvements within the spirit and principles of the utility model, made etc., should be included in
Within the scope of protection of the utility model.
Claims (10)
- A kind of 1. Portable unmanned machine multi-station positioning system, it is characterised in that：By terrestrial components（1）Formed with on-board component；Institute State terrestrial components（1）At least 4 sets, wherein at least 1 set of terrestrial components（1）With other set terrestrial components（1）Not in a plane, Often cover terrestrial components（1）Include ground base station（11）, base station fixed support（12）, ground launch antenna（13）；It is described airborne Component includes airborne receiving antenna（21）, ranging component（22）Component is resolved with position（23）；Ground base station（11）With ground launch antenna（13）It is installed in base station fixed support（12）On, ground base station（11）With ground Surface launching antenna（13）Between be attached by cable；With any ground base station（11）As master base station, other ground base stations （11）It is synchronous that row clock entered by cable connection with master base station；Ranging component（22）By cable respectively with airborne receiving antenna（21）Component is resolved with position（23）It is attached.
- A kind of 2. Portable unmanned machine multi-station positioning system as claimed in claim 1, it is characterised in that：In the on-board component It is additionally provided with altimeter（24）, altimeter（24）Component is resolved with position（23）It is attached by cable.
- A kind of 3. Portable unmanned machine multi-station positioning system as claimed in claim 1 or 2, it is characterised in that：Often cover ground group Part（1）In ground base station（11）With base station fixed support（12）Between be provided with one-to-one butt plate.
- A kind of 4. Portable unmanned machine multi-station positioning system as claimed in claim 1 or 2, it is characterised in that：Branch is fixed in base station Frame（12）Band is magnetic.
- A kind of 5. Portable unmanned machine multi-station positioning system as claimed in claim 1 or 2, it is characterised in that：Airborne reception day Line（21）For 1 or 2.
- A kind of 6. Portable unmanned machine multi-station positioning system as claimed in claim 1 or 2, it is characterised in that：Airborne reception day Line（21）It is arranged on by shock absorber on the longitudinal axis of unmanned plane body.
- A kind of 7. Portable unmanned machine multi-station positioning system as claimed in claim 1 or 2, it is characterised in that：Ground launch day Line（13）For hemispherical antenna.
- A kind of 8. Portable unmanned machine multi-station positioning system as claimed in claim 5, it is characterised in that：When provided with altimeter （24）When, altimeter（24）Phase center to a certain airborne receiving antenna（21）Horizontally or vertically distance should be less than 10cm。
- A kind of 9. Portable unmanned machine multi-station positioning system as claimed in claim 2, it is characterised in that：Altimeter（24）For even Continuous ripple constant difference making body radio altimeter.
- A kind of 10. Portable unmanned machine multi-station positioning system as claimed in claim 1 or 2, it is characterised in that：In ground base station （11）Inside is additionally provided with battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721070106.4U CN207051475U (en) | 2017-08-24 | 2017-08-24 | A kind of Portable unmanned machine multi-station positioning system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721070106.4U CN207051475U (en) | 2017-08-24 | 2017-08-24 | A kind of Portable unmanned machine multi-station positioning system |
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| CN207051475U true CN207051475U (en) | 2018-02-27 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109856647A (en) * | 2019-02-15 | 2019-06-07 | 中国电波传播研究所（中国电子科技集团公司第二十二研究所） | A kind of the GNSS Interference Detection positioning system and method for air-ground coordination |
-
2017
- 2017-08-24 CN CN201721070106.4U patent/CN207051475U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109856647A (en) * | 2019-02-15 | 2019-06-07 | 中国电波传播研究所（中国电子科技集团公司第二十二研究所） | A kind of the GNSS Interference Detection positioning system and method for air-ground coordination |
| CN109856647B (en) * | 2019-02-15 | 2023-05-09 | 中国电波传播研究所（中国电子科技集团公司第二十二研究所） | Space-ground cooperative GNSS interference detection positioning system and method |
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