CN208126203U - A kind of agricultural plant protection unmanned plane precise positioning spraying control system based on UWB - Google Patents
A kind of agricultural plant protection unmanned plane precise positioning spraying control system based on UWB Download PDFInfo
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- CN208126203U CN208126203U CN201820024274.8U CN201820024274U CN208126203U CN 208126203 U CN208126203 U CN 208126203U CN 201820024274 U CN201820024274 U CN 201820024274U CN 208126203 U CN208126203 U CN 208126203U
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Abstract
The agricultural plant protection unmanned plane precise positioning spraying control system based on UWB that the utility model discloses a kind of, plant protection drone and Land Navigation Installation including positioning anchor point, carrying positioning label；It positions anchor point and uses each corners that are multiple and being distributed in farmland, positioning anchor point includes main control chip and the UWB locating module, wireless communication module, GPS module and the power module that connect with main control chip；Land Navigation Installation receives the position coordinates or temporal information that positioning label issues as system backbone, and sends work planning path to plant protection drone；Plant protection drone as mobile node, entrained by positioning label calculate the distance of positioning label relative positioning anchor point in real time and be wirelessly transmitted to Land Navigation Installation, Land Navigation Installation receives the data of positioning label measurement, carries out location Calculation.The utility model can in real time, quickly calculate the three-dimensional coordinate of plant protection drone, realize precise positioning, realize horizontal positioning accuracy≤5cm, perpendicular positioning precision≤10cm.
Description
Technical field
The utility model belongs to location control technical field, and in particular to a kind of agricultural plant protection unmanned plane essence based on UWB
Certainly position spraying control system.
Background technique
Existing plant protection unmanned aerial vehicle is mainly by flying platform（Fixed-wing, single rotor, more rotors）, flight control system, sprinkling
Mechanism three parts composition, realizes spraying operation by ground remote control or GPS flight control system, can spray medicament, seed, pulvis
Deng.Currently, the plant protection drone of mainstream mainly has remote control mode and autonomous flight both of which in control mode both at home and abroad.Remote control
Mode can by therewith composite formation short distance someone aircraft or using remote ground, airborne control operation platform it is logical
Believe that chain is realized；Autonomous flight mainly carries out independent navigation using GPS signal or GPS/INS.
It is found in actual use, both the above spray UAV Flight Control mode has certain problems, and is remotely controlled mould
Cost is relatively low for formula, but under severe conditions, and communication chain reliability is not high, and there are security risks.Especially to remote operation
Personnel's's " winged hand " is more demanding, since qualified winged hand cultivation cycle is longer, is not suitable for the widely available of agricultural unmanned plane.It is existing
It has been had already appeared in agricultural chemical spraying unmanned plane in the stage used on a small scale and has flown hand-tight scarce phenomenon.In addition, due to spraying nobody
The machine breadth that sprays is wider, drain spray when " winged hand " remote control operation, repeats to spray phenomenon more serious.
GPS positioning autonomous flight major defect be：GPS satellite signal is easily disturbed in several cases or blocks, when
When agriculture landscape complexity, there may be multipath effects for GPS satellite-signal, cause same signal to reach by multi-path same
Receiver, to make data entanglement.And due to GPS accuracy and stability, domestic existing autonomous flight spray unmanned plane,
In spraying operation, there is also more serious drain spray rate and rate is resprayed.
Developing can be according to operation field shape, contexture by self path, the spray plant protection drone of accurate autonomous flight
It can effectively reduce the dependence to winged hand, while drain spray rate can be effectively reduced, respray rate.This is the pass of universal plant protection drone
The research hotspot of key and plant protection drone technology.Following plant protection drone according to operating area and should be able to spray width
Width cooks up reasonable operation course line, and unmanned plane is made to carry out autonomous flight operation, drop along this course line with fixed height and speed
Low requirement and variable rate application difficulty to manipulator's airmanship, makes plant protection operation have more accuracy.And it is precisely fixed
Position navigation system is the key that realize that unmanned plane utonomous working and flight and unmanned plane carry out the base of every plant protection flight operation
Plinth.Researching and developing and design high-precision unmanned plane Position Fixing Navigation System is that the future of agriculture plant protection drone technology further breaks through and answers
Key.
Utility model content
Purpose of utility model：Purpose of the utility model is to solve deficiencies in the prior art, provide one kind and are based on
The agricultural plant protection unmanned plane precise positioning spraying control system of UWB, it is real to agricultural plant protection unmanned plane using UWB precise positioning technology
The precise positioning of Centimeter Level is applied, so as to improve the accuracy in unmanned plane spray drug operation path, drain spray is reduced, resprays rate, improve spray
The level of medicine unmanned plane autonomous flight reduces a key difficulties for hindering spray unmanned plane large-scale use, flies hand shortage and asks
Topic.
Technical solution：A kind of agricultural plant protection unmanned plane precise positioning spraying control based on UWB described in the utility model
System, plant protection drone and Land Navigation Installation including positioning anchor point, carrying positioning label；
The positioning anchor point uses each corners that are multiple and being distributed in farmland, the positioning anchor point include main control chip with
And UWB locating module, wireless communication module, GPS module and the power module being connected with the main control chip；
The Land Navigation Installation receives the position coordinates or temporal information that positioning label issues as system backbone, and will
Work planning path sends plant protection drone to；
The plant protection drone as mobile node, entrained by positioning label calculate positioning label relative positioning in real time
The distance of anchor point is simultaneously wirelessly transmitted to Land Navigation Installation, and Land Navigation Installation receives the data of positioning label measurement, carries out positioning meter
Calculate, the positioning label include main control chip and the UWB locating module being connected with the main control chip, wireless communication module and
Power module.
Further, the positioning anchor point includes at least three.
Further, the main control chip uses STM32F103CBT6 chip.
Further, the UWB locating module includes positioning chip, and the positioning chip uses U.S. Time Domain
The PulsOn410 module of company or the DW1000 positioning chip of DecaWave company.
Further, the wireless communication module uses GPRS wireless communication module or Zigbee wireless communication module.
Further, the optimal recurrence estimation algorithm of modified that the location Calculation is combined using TOA and TDOA carries out
Three-dimensional localization.
Beneficial effect：The control system of the utility model is using UWB precise positioning technology to agricultural plant protection unmanned aerial vehicle
The precise positioning of Centimeter Level reduces drain spray, resprays rate, improve spray so as to improve the accuracy in unmanned plane spray drug operation path
The level of unmanned plane autonomous flight reduces a key difficulties for hindering spray unmanned plane large-scale use, flies hand shortage problem.
Detailed description of the invention
Fig. 1 is the control system overall structure diagram of the utility model；
Fig. 2 is the positioning anchor point circuitry control principle block diagram of the utility model；
Fig. 3 is the positioning tag circuit control principle block diagram of the utility model.
Specific embodiment
Technical solution of the present invention is described in further detail combined with specific embodiments below.
If Fig. 1 is to a kind of agricultural plant protection unmanned plane precise positioning spraying control system based on UWB shown in Fig. 3, including
The plant protection drone and Land Navigation Installation 2 for positioning anchor point 1, carrying positioning label 3.
The positioning anchor point 1 is using multiple（At least three, carry out three-dimensional localization）And it is distributed in each corner in farmland, institute
Positioning anchor point 1 is stated to include main control chip and the UWB locating module being connected with the main control chip, wireless communication module, be used for
Determine the GPS module and power module of anchor point position.
The Land Navigation Installation 2 is used as system backbone, receives position coordinates or temporal information that positioning label 3 issues, and
Send work planning path to plant protection drone.
The plant protection drone as mobile node, entrained by positioning label 3 to calculate positioning label 3 in real time relatively fixed
The distance of position anchor point 1 is simultaneously wirelessly transmitted to Land Navigation Installation 2, and Land Navigation Installation 2 receives the data that positioning label 3 measures, and carries out
Location Calculation, the positioning label 3 include main control chip and the UWB locating module, the channel radio that are connected with the main control chip
Interrogate module and power module.
The main control chip for positioning anchor point uses STM32F103CBT6.STM32F103CBT6 is produced by ST company, in
Core is ARM 32 Cortex-M3 CPU, and highest 72MHz working frequency can in the 0 latent period access of memory
Up to 1.25DMips/MHz, have the function of monocycle multiplication and hardware division, is suitble to need the application of high-speed computation.
PulsOn410 module or the DecaWave company of U.S. Time Domain company can be used in positioning anchor point
DW1000 positioning chip can be by two kinds of chips of Experimental comparison in the positioning accuracy of outdoor application and steady in subsequent research
It is qualitative, so that it is determined that final scheme.
（1）PulsOn410 module strong antijamming capability, range accuracy height are very suitable for the round-the-clock use of round-the-clock.
（2）DW1000 is the CMOS radio frequency transceiver integrated circuit chip an of low-power consumption, monolithic, is met
The high accuracy positioning chip of IEEE802.15.4-2011 ultra-wideband standard.
Preferably, the wireless communication module uses GPRS wireless communication module or Zigbee wireless communication module.Wirelessly
The data that UWB module measures mainly are forwarded by communication module, are upload the data to guidance station by positioning anchor point and are determined
Position resolves, and positioning label carries out ranging with positioning anchor point by UWB transceiver, communicates.
Preferably, the optimal recurrence estimation algorithm of modified that the location Calculation is combined using TOA and TDOA carries out three
Dimension positioning.
System work process is：The label that plant protection drone carries initiates positioning instruction, passes through the pulse of UWB nanosecond
Wave and positioning anchor point complete distance test（Three-dimensional space, the three-dimensional coordinate of pre-determining plant protection drone at least need to complete three
Ranging）, ranging information is passed to Land Navigation Installation to positioning anchor point by module by wireless communication, and Land Navigation Installation is believed according to ranging
Breath parses tag coordinate information by location algorithm, and controls plant protection drone amendment flight path.
The control system of the utility model is using UWB precise positioning technology to the essence of agricultural plant protection unmanned aerial vehicle Centimeter Level
Certainly position reduces drain spray, resprays rate so as to improve the accuracy in unmanned plane spray drug operation path, and it is autonomous to improve spray unmanned plane
The level of flight reduces a key difficulties for hindering spray unmanned plane large-scale use, flies hand shortage problem.
The above descriptions are merely preferred embodiments of the present invention, not makees in any form to the utility model
Limitation be not intended to limit the utility model although the utility model has been disclosed with preferred embodiment as above, it is any ripe
Professional and technical personnel is known, is not being departed within the scope of technical solutions of the utility model, when in the technology using the disclosure above
Hold the equivalent embodiment made a little change or be modified to equivalent variations, but all without departing from technical solutions of the utility model
Hold, any simple modification, equivalent change and modification made by the above technical examples according to the technical essence of the present invention, still
It is within the scope of the technical solutions of the present invention.
Claims (3)
1. a kind of agricultural plant protection unmanned plane precise positioning spraying control system based on UWB, it is characterised in that：Including positioning anchor point
(1), the plant protection drone and Land Navigation Installation (2) of positioning label (3) are carried；
Positioning anchor point (1) uses each corners that are multiple and being distributed in farmland, and the positioning anchor point (1) includes main control chip
And UWB locating module, wireless communication module, GPS module and the power module being connected with the main control chip；
The Land Navigation Installation (2) is used as system backbone, receives position coordinates or temporal information that positioning label (3) issues, and
Send work planning path to plant protection drone；
The plant protection drone as mobile node, entrained by positioning label (3) to calculate positioning label (3) in real time relatively fixed
The distance of position anchor point (1) is simultaneously wirelessly transmitted to Land Navigation Installation (2), and Land Navigation Installation (2) receives the number of positioning label (3) measurement
According to progress location Calculation, positioning label (3) includes main control chip and the UWB positioning mould being connected with the main control chip
Block, wireless communication module and power module；
The main control chip uses STM32F103CBT6 chip；
The UWB locating module includes positioning chip, and the positioning chip is using U.S. Time Domain company
The DW1000 positioning chip of PulsOn410 module or DecaWave company；
The wireless communication module uses GPRS wireless communication module or Zigbee wireless communication module.
2. a kind of agricultural plant protection unmanned plane precise positioning spraying control system based on UWB according to claim 1, special
Sign is：The positioning anchor point (1) includes at least three.
3. a kind of agricultural plant protection unmanned plane precise positioning spraying control system based on UWB according to claim 1, special
Sign is：The location Calculation carries out three-dimensional localization using the optimal recurrence estimation algorithm of modified that TOA and TDOA are combined.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820024274.8U CN208126203U (en) | 2018-01-08 | 2018-01-08 | A kind of agricultural plant protection unmanned plane precise positioning spraying control system based on UWB |
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| CN201820024274.8U CN208126203U (en) | 2018-01-08 | 2018-01-08 | A kind of agricultural plant protection unmanned plane precise positioning spraying control system based on UWB |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111812583A (en) * | 2020-06-22 | 2020-10-23 | 中国科学院重庆绿色智能技术研究院 | Unmanned aerial vehicle group positioning system and positioning method |
-
2018
- 2018-01-08 CN CN201820024274.8U patent/CN208126203U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111812583A (en) * | 2020-06-22 | 2020-10-23 | 中国科学院重庆绿色智能技术研究院 | Unmanned aerial vehicle group positioning system and positioning method |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181120 Termination date: 20200108 |