CN207766552U - A kind of system of unmanned plane near field guiding - Google Patents
A kind of system of unmanned plane near field guiding Download PDFInfo
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Abstract
The utility model belongs to wireless telecommunications, unmanned plane is wirelessly accurately positioned equal applied technical fields, a kind of system of the unmanned plane near field guiding proposed, including ground system and airborne positioning system, ground system includes sequentially connected unmanned plane near field sensory perceptual system and locating base station, airborne positioning system includes sequentially connected airport sensory perceptual system, Airborne UWB positioning system and position computing system, locating base station is connect with power supply module, locating base station is wirelessly connected with Airborne UWB positioning system, and unmanned plane near field sensory perceptual system and airport sensory perceptual system are wirelessly connected；Locating base station is connected with positioning auxiliary communication system.The utility model is skillfully constructed, easy to operate, solves and is accurately positioned protected from environmental big, the high technical problem of technical costs in the prior art.
Description
Technical field
The utility model belongs to wireless telecommunications, and unmanned plane is wirelessly accurately positioned equal applied technical fields, be related to it is a kind of nobody
The system of machine near field guiding.
Background technology
Unmanned plane, which is accurately positioned, to be relied primarily on and differential GPS, and the precision of the location technologies such as difference Big Dipper, positioning compares
Height, but it is protected from environmental bigger.Simultaneously because the network coverage etc. factor, not being each place can ensure to very
Good positioning accuracy.On this basis, the technologies such as visual identity, the data volume of processing have been further added by, cost all significantly rises.
There are defect major embodiment the most typical several aspects below in existing system：
1. being accurately positioned protected from environmental big
Existing be accurately positioned depends primarily on differential system, and differential system is influenced by following several factors：
A, level of network coverage, especially in rural area, the network coverage of difference is not nearly enough complete；
B, environment influences, and beside building, beside trees, is unable to get good differential signal, has no idea to realize accurate
Positioning；
C, the cost of differential system, according to differential system supplier, the running cost of each equipment is high, self-built difference base
It stands, implementation cost is high.
2. technical costs is high
If assisting visual identifying system, match cognization is carried out, processing cost and network channel requirement are relatively high, implementation
Difficulty is bigger.
Utility model content
The utility model proposes a kind of systems of unmanned plane near field guiding, solve and are accurately positioned in the prior art by environment
Influence it is big, the high technical problem of technical costs.
What the technical solution of the utility model was realized in：
A kind of system of unmanned plane near field guiding, including ground system and airborne positioning system,
The ground system includes sequentially connected unmanned plane near field sensory perceptual system and locating base station, the airborne positioning system
System includes sequentially connected airport sensory perceptual system, Airborne UWB positioning system and position computing system,
The locating base station is connect with power supply module,
The locating base station is wirelessly connected with the Airborne UWB positioning system, unmanned plane near field sensory perceptual system and institute
Airport sensory perceptual system is stated to be wirelessly connected.
As further technical solution, the locating base station is connected with positioning auxiliary communication system.
As further technical solution, the locating base station includes master base station and from base station, described to be at least from base station
Two,
The master base station and it is described UWB modules are both provided with out of base station,
The positioning auxiliary communication system is arranged in the master base station,
Unmanned plane near field sensory perceptual system includes the first sensory perceptual system and the second sensory perceptual system being connected with each other, and described the
One sensory perceptual system is arranged in the master base station, and second sensory perceptual system is arranged described out of base station, first perception
System is wirelessly connected with the airport sensory perceptual system.
As further technical solution, the master base station and described motion sensor is also both provided with out of base station.
As further technical solution, the master base station and it is described be also both provided with out of base station state indicator module and
Power control button.
As further technical solution, the power supply module is battery.
As further technical solution, first sensory perceptual system, second sensory perceptual system and airport perception
System is all made of 433MHz wireless telecommunication systems,
The positioning auxiliary communication system uses NBIOT systems,
The Airborne UWB positioning system and the UWB modules are all made of IR-UWB systems.
As further technical solution, the positioning auxiliary communication system is communicated using Wi-Fi or 3G/LTE.
As further technical solution, the master base station is with described from base station color difference.
It the utility model use principle and has the beneficial effect that：
This system is being accurately positioned for the unmanned plane near field guiding based on ultra wide band, and the composition of the system mainly has UWB
Ultra wide band locating base station and supplemental communication system, after unmanned plane enters its working range, UWB positioning systems initially enter work
Make state, guide unmanned plane precision landing and leave airport etc..It is mainly used for express delivery unmanned plane and realizes precision landing delivery.
Positioning system (UWB modules and Airborne UWB positioning system) employed in this system is IR-UWB positioning systems, operating distance
In generally 100 meters.Sensory perceptual system (unmanned plane near field sensory perceptual system and airport sensory perceptual system) uses 433MHz wireless telecommunications
It realizes, perceived distance is up to 300 meters, but sensory perceptual system is not limited to and communicated using 433MHz communications bands, as long as its work
Distance is more than UWB operating distances.Positioning auxiliary communication system realizes that NBIOT modules do not limit to use using NBIOT modules
Which kind of means of communication, such as Wi-Fi or 3G/LTE etc..Wherein, master base station and difference mark is carried out from base station using specific color
Know, convenient for quick.
The itd is proposed unmanned plane near field guiding system of the utility model has the following advantages：
1. high-precision
Positioning accuracy is high, is accurately positioned using UWB-ToF rangings, positioning accuracy is up to 10cm, can be effectively auxiliary
UAV Landing is helped, has ensured the positioning accuracy request of system.Being positioned to for multiple UAVs can be realized on the same airport
It asks.
2. low cost
System design is realized by the way of low cost, it is sufficient to promote this positioning system, also, its volume of not needing on a large scale
Outer running cost, disposable to put into, continue working can reach 3 years or more, greatly reduce the use cost of system.
3. high security
Using completely self-contained certification channel, it is safer to use for system, avoids unmanned plane and drops to mistake
Airport, or illegally kidnapped.
4. low-power consumption
All locating base station master base station and from base station all in dormant state, perceive nobody by way of periodic wakeup
Machine arrives, and just starts to wake up, and provides service, and unmanned plane prompt service terminates or perceive after unmanned plane leaves, positioning system weight
Newly enter dormant state.
All locating base stations are all to use battery powered, when needing to provide service to unmanned plane, base station operation,
When need not being unmanned plane service, just it be stopped, can effectively reduces power consumption.Base station by the way of plug and play, if
Need replacing battery, it is only necessary to change new base station.
When base station is installed, directly locating base station is allowed to power on by the association of structure, is confirmed by state instruction,
Due to using battery powered, avoid when uninstalled, base station begins to work, reduces the working time of battery.
5. easy care
Easy care is embodied in many aspects, is the maintenance of base station on one side, and disassembly and installation need not have profession
Knowledge, plug and play.Another aspect is the position of system, and all devices periodically update the status to high in the clouds, and any system is not
Normal situation can be monitored by high in the clouds management platform.
6. self-correction
Positioning system has complete self-checking function, when equipment is moved, system energy self-regeneration, if self-regeneration is lost
It loses, meeting prompt system can not provide service, to be safeguarded.Since system is in use, it is difficult to slight movement is avoided, and
By self-alignment method, the workload of maintenance can be greatly reduced.
7. safety
All devices use low-voltage intrinsic safety equipment, battery powered greatly to reduce security risk, it is ensured that are not present in use
Security risk.
Description of the drawings
Utility model will be further described in detail below with reference to the attached drawings and specific embodiments.
FIG. 1 is a schematic structural view of the utility model；
Fig. 2 is control structure wire schematic diagram in the utility model；
In figure：1- ground systems, 11- locating base stations, 111- master base stations, 112- is from base station, 113- power control buttons,
114-UWB modules, 115- motion sensors, 116- state indicator modules, 12- unmanned planes near field sensory perceptual system, 121- first feel
Know system, the second sensory perceptual systems of 122-, 13- positioning auxiliary communication systems, the airborne positioning systems of 2-, 21- Airborne UWBs positioning system
System, the airports 22- sensory perceptual system, the positions 23- computing system, 3- power supply modules.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
As shown in Fig. 1~2, a kind of system for unmanned plane near field guiding that the utility model is proposed, including ground system 1
With airborne positioning system 2,
Ground system 1 includes sequentially connected unmanned plane near field sensory perceptual system 12 and locating base station 11, airborne positioning system 2
Including sequentially connected airport sensory perceptual system 22, Airborne UWB positioning system 21 and position computing system 23,
Locating base station 11 is connect with power supply module 3,
Locating base station 11 is wirelessly connected with Airborne UWB positioning system 21, unmanned plane near field sensory perceptual system 12 and airport perception
System 22 is wirelessly connected.
Further, locating base station 11 and positioning auxiliary communication system 13 connect.
Further, locating base station 11 includes master base station 111 and from base station 112, from base station 112 at least two,
Master base station 111 and UWB modules 114 are both provided with out of base station 112,
Positioning auxiliary communication system 13 is arranged in master base station 111,
Unmanned plane near field sensory perceptual system 12 includes the first sensory perceptual system 121 and the second sensory perceptual system 122 being connected with each other, the
One sensory perceptual system 121 is arranged in master base station 111, and the setting of the second sensory perceptual system 122 is out of base station 112, the first sensory perceptual system
121 are wirelessly connected with airport sensory perceptual system 22.
Further, master base station 111 and motion sensor 115 is also both provided with out of base station 112.
Further, master base station 111 and state indicator module 116 and power control button are also both provided with out of base station 112
113。
Further, power supply module 3 is battery.
Further, the first sensory perceptual system 121, the second sensory perceptual system 122 and airport sensory perceptual system 22 be all made of 433MHz without
Line communication system,
Positioning auxiliary communication system 13 uses NBIOT systems,
Airborne UWB positioning system 21 and UWB modules 114 are all made of IR-UWB systems.
Further, positioning auxiliary communication system 13 is communicated using Wi-Fi or 3G/LTE.
Further, master base station 111 is different with from 112 color of base station.
The itd is proposed unmanned plane near field guiding system of the utility model is divided into two main component parts：
1. ground system 1
Ground system 1 is made of three main subsystems：
A. locating base station 11, including 1 master base station 111 and at least two are generally 3 from base station, use from base station 112
Power supply module 3 is powered；Wherein, master base station 111 and UWB modules 124 are both provided with out of base station 112, UWB modules 124 when use
Information exchange is carried out with the UWB on unmanned plane, realizes unmanned plane and master base station 111 or the precision ranging from base station 112, Jin Ershi
Existing unmanned plane is accurately positioned；
B. unmanned plane near field sensory perceptual system 12 perceives unmanned machine information, and controlling locating base station 11 according to detection information works
Or suspend mode, the power consumption of locating base station 11 is reduced, the stand-by time of locating base station 11 is increased, reduces system maintenance work amount；
C. positioning auxiliary communication system 13 guides the second certification channel of system for unmanned plane near field, is led to high in the clouds
News are mainly used for positioning the system administration on airport, authorize the work such as landing.
2. airborne positioning system 2
Mainly there are three main subsystems to form for airborne positioning system 2：
A. Airborne UWB positioning system 21, the UWB modules for being arranged with master base station on ground 111 and out of base station 112
124 carry out information exchanges, realize unmanned plane and master base station 111, from the accurate measurement of distance between base station 112；
B. airport sensory perceptual system 22 perceives the information on airport, and the locating base station 11 for waking up airport collects the phase on airport
It closes data and system matches etc.；
C. position computing subsystem 23, according to 114 ranging of UWB modules in Airborne UWB positioning system 21 and locating base station 11
It is obtained and to export result of calculation to system for flight control computer as a result, calculate the position of current unmanned plane, it is flown certainly
Plan.
Wherein, unmanned plane near field sensory perceptual system 12 has setting in all base stations, mainly realizes close to unmanned plane
Perception, when unmanned plane soon close to ground control system after, sense to unmanned plane is realized by unmanned plane near field sensory perceptual system 12
Know, perceived distance can reach 300 meters.When perceive unmanned plane need enter this system after, locating base station 11 can be waken up
It starts to work, after leaving region, locating base station 11 can be allowed to enter dormant state, reduce system power dissipation.
Positioning auxiliary communication system 13 is mainly realized and high in the clouds communication, as the second certification channel, it is ensured that the peace of system
Entirely and reliability, after perceiving unmanned plane by unmanned plane near field sensory perceptual system 12 and arriving, the module meeting and background service
Device carries out data communication, it is ensured that this unmanned plane is authorized；This channel can be used for system mode management and maintenance simultaneously.
Unmanned plane realizes the ranging between locating base station 11, airport sensory perceptual system 22 by Airborne UWB positioning system 21
After the completion of being communicated with unmanned plane near field sensory perceptual system 12, Airborne UWB positioning system 21 is waken up and starts to work and locating base station
11 carry out ranging, and distance measurement result is output to position computing subsystem 23, calculating position.
Airport sensory perceptual system 22 is mainly communicated with unmanned plane near field sensory perceptual system 12, when close to ground control system
Later, this part can wake up Airborne UWB positioning system 21, when leaving, can actively close Airborne UWB positioning system 21,
Reduce unmanned plane power consumption.
Specific workflow is as follows：
(1) ground system construction
(1.1) master base station 111 and from base station 112 build
Ground system construction refers to master base station 111 and construction and installation from base station 112.In the positioning system on ground,
Only there are one master base station 111, shell is different with other colors from base station 112 in mark site color.Power supply module 3 is
Whole system (including master base station 111 and from base station 112) is powered, and disposable battery may be used, and can also use can fill
If battery may be used solar energy mode and charge with rechargeable battery.
UWB modules 114 are to support unmanned plane UWB modules, and unmanned plane UWB modules is supported to initiate the distance measurement request of positioning；Shape
State indicating module 116 is the state of instruction system, such as suspend mode, is worked, and error, battery lights low information, convenient for safeguarding and
Judge ground UWB positioning master base stations 111 and the working condition from base station 112；Power control button 113 is opening for whole system
Close, this switch and installing mechanism is associated, after the installation is complete, ground UWB position master base station 111 and from base station 112 just
In operating mode, if being removed from mounting bracket, automatically into power-down mode.
When master base station 111 and from after installation is complete for base station 112, motion sensor 115 is started to work, when it perceives master
Base station 111 is moved, and master base station 111 will be waken up, at the same waken up by the first sensory perceptual system 121 it is all from base station 112, into
Line position, which is set, to be reaffirmed or alerts；It is moved when it is perceived from base station 112, will be waken up from base station 112, pass through the second perception
System 122 carries out location confirmation again.Wherein, the first sensory perceptual system 121 mainly completes two functions：Unmanned plane near field perceives；
It is communicated from base station 112 with all, realizes installation pairing, state information collection, position secondary-confirmation etc..Second sensory perceptual system
122 are mainly communicated with master base station 111, realize installation pairing, status information transmission, position secondary-confirmation etc..
Positioning auxiliary communication system 13 mainly realizes two functions：Certification channel is mainly used for unmanned plane and passes through certification；Pipe
Channel is managed, all facility informations are collected, is used for server-side management and maintenance.Wherein, positioning auxiliary communication system 13 can be
Wi-Fi is connected to cloud server by router, can also be the channels such as GPRS or 3G/LTE, as long as can pass through network connection
To cloud server.But it cannot be connected to server by the channel on unmanned plane, this must be an independent channel.
Ground positioning system at least 2 from base station 112, shell is in mark site color and master base station 111
Color it is different.
(1.2) equipment is installed
Master base station 111 and after installation is complete, automatic power is completed by the actuating mechanism of base station design from base station 112,
It can complete to confirm by the state indicator module 116 on each base station.Master base station 111 can pass through 121 He of the first sensory perceptual system
It is communicated and is identified from base station 112, complete the action of pairing.Master base station 111 can be preserved to be believed from the relevant configuration of base station 112
Breath.
(1.3) setting coordinate and confirmation
Manually, confirm master base station 111 and the longitude and latitude exact value from base station 112, master base station 111 can actively from
High in the clouds gets the accurate coordinates information of all base stations, and quadratic space position relationship confirmation is carried out in a manner of ranging.
All master base station 111 and intersection ranging is carried out from base station 112, after the completion of ranging, the result of ranging is converged to
Master base station 111, master base station 111 compare the distance measurement result obtained and accurate GPS coordinate, if in the presence of more serious
Deviation will alert, it is understood that there may be measuring error to system prompt.
(1.4) mobile awareness
In all ground base stations UWB, all there is mobile sensing sensor, after being moved due to base station location, can lead
Positioning is caused larger deviation occur even completely inaccurate.It is therefore desirable to which any movement is corrected and is judged whether again
Alarm is generated, is safeguarded.
When any one ground UWB locating base stations generate mobile event to when stopping, master base station 111 can again
Order is initiated, allows all base stations to carry out intersection ranging, distance measurement result and initial result is compared, if comparison is beyond setting
Threshold value, such as 5 centimetres, system will generate alarm by communication channel to server, stop service.If it is not above threshold value, and
And meeting following condition, system can re-scale automatically：It can only at most be moved there are one base station；Master base station 111 passes through
Extrapolate the coordinate of mobile base station in other base stations that do not move；Updated coordinate system is notified into cloud server.
(2) unmanned plane near field perceives
All ground base stations are all to be marched into the arena for dormant state when there is unmanned plane when no unmanned plane is marched into the arena
When, it needs all base stations to wake up and starts to work.
The meeting periodic wakeup of master base station 111 near field the first sensory perceptual system of perceptual channel 121, the first sensory perceptual system after wake-up
121 can actively send a broadcast request message with ID, if there are unmanned planes, and the ID that this unmanned plane passes through drop zone
It is matched：
It is not replied then by matching, the first sensory perceptual system 121 waits for time-out, master base station 111 that can reenter suspend mode shape
State.
If fitting through, airport sensory perceptual system 22 replys this request message, and unmanned plane is added on response message
Relevant information, if the first sensory perceptual system 121 receives response message, master base station 111 wakes up all from base station 112 on ground.
(3) binary channels certification
After master base station 111 obtains the relevant information of unmanned plane by the first sensory perceptual system of near field perceptual channel 121, need
The information of unmanned plane is transferred to background server by positioning auxiliary communication system 13 (IOT modules), receives background server
After confirmation, Ground Positioning System can just start to provide positioning service for unmanned plane, if it is a response for negating, ground to receive
Positioning system will not provide positioning service to unmanned plane.
(4) unmanned plane positions
After master base station 111 obtains server mandate by positioning auxiliary communication system 13 (IOT modules), pass through the first sense
Know that the information such as all base station locations in ground, permission touchdown area are supplied to unmanned plane airport sensory perceptual system 22, nothing by system 121
After the detailed coordinate information on man-machine acquisition ground, unmanned aerial vehicle onboard UWB positioning systems 21 start and master base station 111, from base station
112 carry out ranging, and after ranging is completed, distance measurement result is supplied to position computing system 23, position by Airborne UWB positioning system 21
Position is output to unmanned plane and flies control unit by computing system 23, is landed.Unmanned plane is dropped in unmanned plane to leave, entire mistake
In journey master base station 111 and from base station 112 be all continuously unmanned plane provide service, until unmanned plane leaves working region.
(5) unmanned plane leaves perception
In the process that unmanned plane lands and leaves, ground base station is continuously its offer service, in the process, master base station
111 by 22 constant communication of the first sensory perceptual system 121 and unmanned plane airport sensory perceptual system, until Communications failure.Other one
When kind mode is that unmanned plane has no longer needed ground system to provide service, pass through airport sensory perceptual system 22 or Airborne UWB
Positioning system 21 informs that ground system no longer needs to service, then master base station 111 by positioning auxiliary communication system 13 to server
Report this time service terminates, and then Ground Positioning System enters suspend mode, completes this wheel service.
(6) ground system management
Ground system management is mainly concerned with following several aspects, but be all by positioning auxiliary communication system 13 into
Row：Unmanned plane landing authorizes；Unmanned plane descent terminates the notices such as service；Base station state updating, this is wrapped to periodically update
Battery capacity is included, the health status etc. of system is managed convenient for server；Base station location movement alarm；The coordinate mark of base station
Surely there is deviation and deviation situation.
This system is being accurately positioned for the unmanned plane near field guiding based on ultra wide band, and the composition of the system mainly has UWB
Ultra wide band locating base station and supplemental communication system, after unmanned plane enters its working range, UWB positioning systems initially enter work
Make state, guide unmanned plane precision landing and leave airport etc..It is mainly used for express delivery unmanned plane and realizes precision landing delivery.
Positioning system (UWB modules 114 and Airborne UWB positioning system 21) employed in this system is IR-UWB positioning systems, work
Make in generally 100 meters of distance.Sensory perceptual system (unmanned plane near field sensory perceptual system 12 and airport sensory perceptual system 22) uses
433MHz wireless telecommunications realize that perceived distance is up to 300 meters, but sensory perceptual system is not limited to and led to using 433MHz communications bands
News, as long as its operating distance is more than UWB operating distances.Positioning auxiliary communication system 13 uses NBIOT modules to realize,
NBIOT modules are not limited to using which kind of means of communication, such as Wi-Fi or 3G/LTE etc..Wherein, master base station 111 and from base station 112
Distinctive mark is carried out using specific color, convenient for quick.
The itd is proposed unmanned plane near field guiding system of the utility model has the following advantages：
1. high-precision
Positioning accuracy is high, is accurately positioned using UWB-ToF rangings, positioning accuracy is up to 10cm, can be effectively auxiliary
UAV Landing is helped, has ensured the positioning accuracy request of system.Being positioned to for multiple UAVs can be realized on the same airport
It asks.
2. low cost
System design is realized by the way of low cost, it is sufficient to promote this positioning system, also, its volume of not needing on a large scale
Outer running cost, disposable to put into, continue working can reach 3 years or more, greatly reduce the use cost of system.
3. high security
Using completely self-contained certification channel, it is safer to use for system, avoids unmanned plane and drops to mistake
Airport, or illegally kidnapped.
4. low-power consumption
All locating base station master base station 111 and from base station 112 all in dormant state, the sense by way of periodic wakeup
Know that unmanned plane arrives, just start to wake up, service is provided, unmanned plane prompt service terminates or perceive after unmanned plane leaves, positioning
System reenters dormant state.
All locating base stations are all to use battery powered, when needing to provide service to unmanned plane, base station operation,
When need not being unmanned plane service, just it be stopped, can effectively reduces power consumption.Base station by the way of plug and play, if
Need replacing battery, it is only necessary to change new base station.
When base station is installed, directly locating base station is allowed to power on by the association of structure, is confirmed by state instruction,
Due to using battery powered, avoid when uninstalled, base station begins to work, reduces the working time of battery.
5. easy care
Easy care is embodied in many aspects, is the maintenance of base station on one side, and disassembly and installation need not have profession
Knowledge, plug and play.Another aspect is the position of system, and all devices periodically update the status to high in the clouds, and any system is not
Normal situation can be monitored by high in the clouds management platform.
6. self-correction
Positioning system has complete self-checking function, when equipment is moved, system energy self-regeneration, if self-regeneration is lost
It loses, meeting prompt system can not provide service, to be safeguarded.Since system is in use, it is difficult to slight movement is avoided, and
By self-alignment method, the workload of maintenance can be greatly reduced.
7. safety
All devices use low-voltage intrinsic safety equipment, battery powered greatly to reduce security risk, it is ensured that are not present in use
Security risk.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection domain within.
Claims (9)
1. a kind of system of unmanned plane near field guiding, which is characterized in that including ground system (1) and airborne positioning system (2),
The ground system (1) includes sequentially connected unmanned plane near field sensory perceptual system (12) and locating base station (11), the machine
It includes sequentially connected airport sensory perceptual system (22), Airborne UWB positioning system (21) and position computing system to carry positioning system (2)
(23),
The locating base station (11) connect with power supply module (3),
The locating base station (11) is wirelessly connected with the Airborne UWB positioning system (21), unmanned plane near field sensory perceptual system
(12) it is wirelessly connected with the airport sensory perceptual system (22).
2. a kind of system of unmanned plane near field guiding according to claim 1, which is characterized in that the locating base station (11)
It is connected with positioning auxiliary communication system (13).
3. a kind of system of unmanned plane near field guiding according to claim 2, which is characterized in that the locating base station (11)
It is described from base station (112) at least two including master base station (111) and from base station (112),
The master base station (111) and it is described be both provided with UWB modules (114) out of base station (112),
Positioning auxiliary communication system (13) setting is interior in the master base station (111),
Unmanned plane near field sensory perceptual system (12) includes the first sensory perceptual system (121) and the second sensory perceptual system being connected with each other
(122), the first sensory perceptual system (121) setting is in the master base station (111), the second sensory perceptual system (122) setting
Described out of base station (112), first sensory perceptual system (121) is wirelessly connected with the airport sensory perceptual system (22).
4. a kind of system of unmanned plane near field guiding according to claim 3, which is characterized in that the master base station (111)
With described motion sensor (115) is also both provided with out of base station (112).
5. a kind of system of unmanned plane near field guiding according to claim 3, which is characterized in that the master base station (111)
With described state indicator module (116) and power control button (113) are also both provided with out of base station (112).
6. a kind of system of unmanned plane near field guiding according to claim 3, which is characterized in that the power supply module (3)
For battery.
7. according to a kind of system of unmanned plane near field of claim 3~6 any one of them guiding, which is characterized in that described the
One sensory perceptual system (121), second sensory perceptual system (122) and the airport sensory perceptual system (22) are all made of 433MHz channel radios
News system,
The positioning auxiliary communication system (13) uses NBIOT systems,
The Airborne UWB positioning system (21) and the UWB modules (114) are all made of IR-UWB systems.
8. a kind of system of unmanned plane near field guiding according to claim 7, which is characterized in that the positioning auxiliary communication
System (13) is communicated using Wi-Fi or 3G/LTE.
9. a kind of system of unmanned plane near field guiding according to claim 8, which is characterized in that the master base station (111)
With it is described different from base station (112) color.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107820215A (en) * | 2017-12-05 | 2018-03-20 | 南京沃旭通讯科技有限公司 | A kind of unmanned plane near field guides system and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107820215A (en) * | 2017-12-05 | 2018-03-20 | 南京沃旭通讯科技有限公司 | A kind of unmanned plane near field guides system and method |
| CN107820215B (en) * | 2017-12-05 | 2023-11-07 | 南京沃旭通讯科技有限公司 | Unmanned aerial vehicle near-field guiding system and method |
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