CN207882431U - A kind of unmanned plane positioning system based on UWB technology - Google Patents
A kind of unmanned plane positioning system based on UWB technology Download PDFInfo
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- CN207882431U CN207882431U CN201820193444.5U CN201820193444U CN207882431U CN 207882431 U CN207882431 U CN 207882431U CN 201820193444 U CN201820193444 U CN 201820193444U CN 207882431 U CN207882431 U CN 207882431U
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- rotors
- uwb
- unmanned plane
- modules
- control terminal
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Abstract
The utility model discloses a kind of unmanned plane positioning system based on UWB technology, fly control terminal including three or four base stations, UWB locating modules and more rotors, it includes more rotor flying control modules and state of flight monitoring modular that more rotors, which fly control terminal, UWB locating modules are by being wirelessly connected base station, UWB locating modules output data to more rotor flying state monitoring modules that more rotors fly control terminal simultaneously, are connected by wireless data transfer module between more rotor flying control modules and flight monitoring module.The utility model fully achieves the indoor intelligence of unmanned plane and automation, solves the problems, such as indoor-GPS inaccuracy, can be widely used for the insecure region of the satellite-signals such as interior, valley, the woods.
Description
Technical field
The utility model belongs to a kind of unmanned plane positioning system, specially a kind of unmanned plane positioning system based on UWB technology
System.
Background technology
Current more rotor unmanned aircrafts be one kind be equipped with necessary data processing unit, sensor, automatic controller,
Communication system and can VTOL by the not manned vehicle that multiple rotors are power plant, can be in the unmanned feelings intervened
At autonomous flight task under condition.Its light weight, the feature that load-carrying is small, cruising ability is poor determine the unmanned vehicle mainly low
The empty short endurance work of carry out near the ground, such as interior, valley, the woods.Since with a varied topography, noise is big, in this environment
It is insecure to carry out location navigation using GPS, so, navigation of the quadrotor unmanned vehicle in no GPS environment is at one
The problem of a urgent need to resolve.
Utility model content
The purpose of this utility model is to provide a kind of unmanned plane positioning system based on UWB technology.
In order to achieve the above object, the technical solution adopted in the utility model is：Including three or four base stations, UWB positioning
Module and more rotors fly control terminal, and it includes more rotor flying control modules and state of flight monitoring modular that more rotors, which fly control terminal,
UWB locating modules output data to more rotors that more rotors fly control terminal simultaneously by being wirelessly connected base station, UWB locating modules
State of flight monitoring modular is connected between more rotor flying control modules and flight monitoring module by wireless data transfer module
It connects.
The UWB locating modules include DWM1000 integrated chips, and second connect with DWM1000 integrated chips
Power supply and second wireless singal processing module.
The base station includes wireless signal controller, and at the first wireless signal being connect with wireless signal controller
Manage module and the first power supply.
It includes multiple flight motors that more rotors, which fly control terminal,.
The data of pre-set flight paths in flight control modules, and state of flight is controlled, by the data of pre-set flight paths
Input data intelligent processing module.Data intelligence processing module is responsible for the data of pre-set flight paths and unmanned plane indoor positioning
The collected data of module are handled, and plan the data of flight path again, and are output in flight control modules and are covered in advance
If data.Flight control modules adjust the rotating speed of four flight motors according to the data after covering in real time, fly to control it
Walking along the street line so that unmanned plane during flying trajector deviation controls in normal range (NR).
The indoor positioning module includes DWM1000 integrated chips, and the second electricity being connect with DWM1000 integrated chips
Source and second wireless singal processing module.DWM1000 integrated chips send distance measuring signal using second wireless singal processing module,
And wait for answer signal.Base station module sends distance measuring signal after receiving wireless signal, after DWM1000 modules receive signal,
Data calculating is carried out after being judged as base station module signal.Unmanned seat in the plane is calculated after receiving the signal of three base stations or four base stations
It sets.
The utility model positions multi-rotor aerocraft using UWB technology, and multi-rotor aerocraft can be accurately obtained certainly
The relative position of body so that the three-dimensional fixed point of multi-rotor unmanned aerial vehicle has the characteristics that accurate positioning, strong interference immunity, and completely
The indoor intelligence of unmanned plane and automation are realized, indoor-GPS inaccuracy is solved the problems, such as, can be widely used for room
The insecure region of the satellite-signals such as interior, valley, the woods.
Description of the drawings
Fig. 1 is that the structure of the utility model is intended to；
Fig. 2 is the utility model UWB positioning flow figures.
Specific implementation mode
As shown in Figure 1, the utility model, which includes three base stations, UWB locating modules and more rotors, flies control terminal, more rotors fly
Control terminal includes more rotor flying control modules and state of flight monitoring modular, UWB locating modules by being wirelessly connected base station,
UWB locating modules output data to more rotor flying state monitoring modules that more rotors fly control terminal, more rotor flyings simultaneously
It is connected by wireless data transfer module between control module and flight monitoring module.The UWB locating modules include
DWM1000 integrated chips, and the second source and second wireless singal processing module that are connect with DWM1000 integrated chips.
The base station includes wireless signal controller, and at the first wireless signal being connect with wireless signal controller
Manage module and the first power supply.
It includes four flight motors that more rotors, which fly control terminal,.
The indoor positioning module includes DWM1000 integrated chips, and the second electricity being connect with DWM1000 integrated chips
Source and second wireless singal processing module.DWM1000 integrated chips send distance measuring signal using second wireless singal processing module,
And wait for answer signal.Base station module sends distance measuring signal after receiving wireless signal, after DWM1000 modules receive signal,
Data calculating is carried out after being judged as base station module signal.Unmanned plane position is calculated after receiving the signal of three base stations.Its process
As shown in Figure 2.
Claims (4)
1. a kind of unmanned plane positioning system based on UWB technology, it is characterised in that：Including three or four base stations, UWB positioning moulds
Block and more rotors fly control terminal, and it includes more rotor flying control modules and state of flight monitoring modular that more rotors, which fly control terminal,
UWB locating modules output data to more rotors that more rotors fly control terminal simultaneously by being wirelessly connected base station, UWB locating modules
State of flight monitoring modular is connected between more rotor flying control modules and flight monitoring module by wireless data transfer module
It connects.
2. a kind of unmanned plane positioning system based on UWB technology according to claim 1, it is characterised in that:The UWB
Locating module includes DWM1000 integrated chips, and the second source and second wireless singal being connect with DWM1000 integrated chips
Processing module.
3. a kind of unmanned plane positioning system based on UWB technology according to claim 1, it is characterised in that:The base
It stands including wireless signal controller, and the first wireless signal processing module being connect with wireless signal controller and the first electricity
Source.
4. according to a kind of any unmanned plane positioning system based on UWB technology of Claims 2 or 3, it is characterised in that:Institute
It includes multiple flight motors to state more rotors to fly control terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820193444.5U CN207882431U (en) | 2018-02-05 | 2018-02-05 | A kind of unmanned plane positioning system based on UWB technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820193444.5U CN207882431U (en) | 2018-02-05 | 2018-02-05 | A kind of unmanned plane positioning system based on UWB technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207882431U true CN207882431U (en) | 2018-09-18 |
Family
ID=63509883
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820193444.5U Expired - Fee Related CN207882431U (en) | 2018-02-05 | 2018-02-05 | A kind of unmanned plane positioning system based on UWB technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207882431U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109992005A (en) * | 2019-05-10 | 2019-07-09 | 上海歌尔泰克机器人有限公司 | Unmanned aerial vehicle (UAV) control method, apparatus, computer readable storage medium and relevant device |
| CN112947544A (en) * | 2021-01-26 | 2021-06-11 | 北京京东乾石科技有限公司 | Aircraft control method, device, system and storage medium |
-
2018
- 2018-02-05 CN CN201820193444.5U patent/CN207882431U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109992005A (en) * | 2019-05-10 | 2019-07-09 | 上海歌尔泰克机器人有限公司 | Unmanned aerial vehicle (UAV) control method, apparatus, computer readable storage medium and relevant device |
| CN112947544A (en) * | 2021-01-26 | 2021-06-11 | 北京京东乾石科技有限公司 | Aircraft control method, device, system and storage medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180918 Termination date: 20190205 |
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| CF01 | Termination of patent right due to non-payment of annual fee |