CN208315015U - A kind of device of unmanned vehicle positioning and identification - Google Patents
A kind of device of unmanned vehicle positioning and identification Download PDFInfo
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- CN208315015U CN208315015U CN201820569110.3U CN201820569110U CN208315015U CN 208315015 U CN208315015 U CN 208315015U CN 201820569110 U CN201820569110 U CN 201820569110U CN 208315015 U CN208315015 U CN 208315015U
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Abstract
The utility model discloses the device of a kind of positioning of unmanned vehicle and identification.The device includes: airborne information collection end, fixed test end and wireless telecom equipment, airborne information collection end is arranged on unmanned vehicle, on the detection vehicle of fixed test end setting on the ground, airborne information collection end includes ten axis gyroscopes, ranging emits equipment, on-board controller, fixed test end includes GPS positioning device, two rangings receive structure, receive controller, ten axis gyroscopes are connect with the on-board controller, ten axis gyroscopes are used to detect the angular acceleration of unmanned vehicle, angular speed, course, highly, and by angular acceleration, angular speed, course, height is sent to the on-board controller, two rangings receive structure and connect with the reception controller, two rangings receive structure and are sent to reception controller for that will receive coordinate.The monitoring realized to the illegal flight of aircraft is connect with fixed test end by the information-recording collecting terminal being arranged on unmanned vehicle.
Description
Technical field
The utility model relates to unmanned vehicle field, more particularly to a kind of positioning of unmanned vehicle and identification
Device.
Background technique
With popularizing for unmanned vehicle, there is the phenomenon that very much " black to fly ", very big prestige is brought to public transport
The side of body, brings many detrimental effects to daily life.
There is the localization method of the unmanned vehicle based on scene matching aided navigation in the prior art, becomes first with scale invariant feature
Method is changed, the algorithm of eigentransformation extracts the characteristic point of unmanned vehicle and satellite mapping, then carries out Feature Points Matching again,
It is secondary, the flight position of unmanned vehicle is calculated in the front lower visual field model of unmanned vehicle according to the characteristic point position of successful match
It sets, and is compared with the preset track of aircraft, judge whether flight path is correct.
Localization method in the prior art can not obtain the particular geographic location of unmanned vehicle, can not also obtain nobody and fly
The course of row device, the information of flying height also can not just judge whether the flight behavior of unmanned vehicle is illegal.
Utility model content
The purpose of the utility model is to provide one kind can judge that whether illegal nobody of unmanned vehicle flight behavior flies
The device of the positioning of row device and identification.
To achieve the above object, the utility model provides following scheme:
The device of a kind of positioning of unmanned vehicle and identification, described device include: airborne information collection end, fixed inspection
End and wireless telecom equipment are surveyed, the airborne information collection end is arranged on unmanned vehicle, and the fixed test end setting exists
On detection vehicle on ground.
The airborne information collection end includes ten axis gyroscopes, ranging transmitting equipment, on-board controller.
The fixed test end includes GPS positioning device, two rangings reception structures, receives controller, timer.
The ten axis gyroscope is connect with the on-board controller, and the ten axis gyroscope is for detecting the unmanned flight
The angular acceleration of device, angular speed, course, height, and the angular acceleration, the angular speed, the course, the height are sent out
It send to the on-board controller.
The on-board controller and the reception controller pass through wireless telecommunications system respectively and are wirelessly connected, the machine
Itself identification code of the unmanned vehicle is sent to the reception controller by set controller.
The GPS positioning device is connect with the reception controller, the GPS positioning device by it is described detection vehicle ground
Reason location information is sent to the reception controller.
The ranging transmitting equipment receives structure wireless with described two rangings and connect, and the ranging transmitting equipment is for sending out
Distance measuring signal is penetrated, and the distance measuring signal is sent to described two rangings and receives structure；Described two rangings receive structure point
The headstock and the tailstock of the detection vehicle are not set.
Described two rangings receive structure and connect with the reception controller, and described two rangings receive structure and receive institute
After stating distance measuring signal, described two rangings receive structure and the distance measuring signal are sent to the reception controller, the reception
After controller receives the distance measuring signal, the reception controller control timer stops timing, and is propagated according to distance measuring signal
The time of speed and timer carrys out distance between calculating said ranging transmitting equipment and two reception controllers.
Optionally, the wireless telecom equipment specifically includes airborne wireless communication equipment and in-vehicle wireless communications device.
Optionally, the timer further includes two timers；
Described two timers are connect with the reception controller respectively, and described two timers obtain the ranging respectively
Signal is transferred to the time that described two rangings receive structure.
The wireless signal transmission equipment is periodically to air-launched wireless signal, and the unmanned vehicle is by receiving institute
It states wireless signal and connection is established at the fixed test end.
Optionally, the ten axis gyroscope specifically includes: three axis angular acceleration gyroscopes, three axis angular rate gyroscopes, three
Axis earth magnetism gyroscope, altimeter.
According to specific embodiment provided by the utility model, the utility model discloses following technical effects: this is practical new
Type provides the device of a kind of positioning of unmanned vehicle and identification, passes through the information-recording being arranged on unmanned vehicle and receives
Collection end is connect with fixed test end, and the geographical location of unmanned vehicle is detected by fixed test end, is examined by ten axis gyroscopes
Angular acceleration, the angular speed, course, flying height for surveying unmanned vehicle, according to the state of flight of the aircraft of acquisition and country
The state of flight of defined unmanned vehicle judges whether the flight behavior of unmanned vehicle is illegal, to realize to aircraft
The monitoring of illegal flight.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only the utility model
Some embodiments for those of ordinary skill in the art without any creative labor, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is a kind of structure chart of the device of unmanned vehicle positioning and identification provided by the utility model；
Fig. 2 is the flow chart of a kind of method of unmanned vehicle positioning and identification provided by the utility model；
Fig. 3 is principle of triangulation schematic diagram provided by the utility model.
Specific embodiment
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
Every other embodiment obtained, fall within the protection scope of the utility model.
The purpose of the utility model is to provide one kind can judge that whether illegal nobody of unmanned vehicle flight behavior flies
The device of the positioning of row device and identification.
To keep the above objects, features, and advantages of the utility model more obvious and easy to understand, with reference to the accompanying drawing and have
Body embodiment is described in further detail the utility model.
Fig. 1 is the structure chart of the device of a kind of positioning of unmanned vehicle and identification.
As shown in Figure 1, the device of a kind of unmanned vehicle positioning and identification, described device includes: that airborne information is received
Collect end, fixed test end, wireless telecom equipment, the airborne information collection end is arranged on unmanned vehicle, the fixed inspection
It surveys on the detection vehicle of end setting on the ground, on the outdoor fixation bracket of the fixed test end setting on the ground.
The airborne information collection end 1 includes ten axis gyroscopes 11, ranging transmitting equipment 14, on-board controller 12.
The fixed test end 2 includes that 24, two rangings of GPS positioning device receive structure 22, receive controller 23.
The ten axis gyroscope 11 is connect with the on-board controller 12, and the ten axis gyroscope 11 is for detecting the nothing
The angular acceleration of people's aircraft, angular speed, course, height, and by the angular acceleration, angular speed, the course, described
Height is sent to the on-board controller 12.
The on-board controller 12 and the reception controller 23 are wirelessly connected by wireless telecommunications system respectively, institute
It states on-board controller 12 and itself identification code of the unmanned vehicle is sent to the reception controller 23, the airborne control
Itself identification code of the unmanned vehicle and course, height, angular acceleration, angular speed are sent to the reception and controlled by device 12
Device 23.
The GPS positioning device 24 is connect with the reception controller 23, and the GPS positioning device 24 is by the detection vehicle
Geographical location information be sent to the reception controller 23, when setting on the ground outdoor in the fixed test end is consolidated
When on fixed rack, the support bracket fastened geographical location information is sent to the reception controller by the GPS positioning device 24
23。
The ranging transmitting equipment 14 and described two rangings receive structure 22 and are wirelessly connected, and the ranging emits equipment 14
For emitting distance measuring signal, and the distance measuring signal is sent to described two rangings and receives structure 22；Described two rangings connect
Receive headstock and the tailstock that structure 22 is separately positioned on the detection vehicle.
Described two rangings receive structure 22 and connect with the reception controller 23, and described two rangings receive structure 22 and connect
After receiving the distance measuring signal, described two rangings receive structure 22 and the distance measuring signal are sent to the reception controller
23, after the reception controller 23 receives the distance measuring signal, the reception controller 23 controls timer 21 and stops timing, and
Emit equipment 14 according to the time of distance measuring signal spread speed and timer 21 come calculating said ranging and two receptions are controlled
Distance between device 23 processed.
The wireless telecom equipment specifically includes airborne wireless communication equipment 13 and in-vehicle wireless communications device 25.
The timer 11 further includes two timers；
Described two timers are connect with the reception controller 23 respectively, and described two timers obtain the survey respectively
The time that described two rangings receive structure is transferred to away from signal；
The wireless signal transmission equipment is periodically to air-launched wireless signal, and the unmanned vehicle is by receiving institute
It states wireless signal and connection is established at the fixed test end.
The ten axis gyroscope 11 specifically includes: three axis angular acceleration gyroscopes, three axis angular rate gyroscopes, three axis earth magnetism
Gyroscope, altimeter.
The on-board controller 12 is connect with the ten axis gyroscope 11, the ten axis gyroscope 11 detect nobody fly
The angular acceleration of row device, angular speed, course, height, the ten axis gyroscope 11 is by the angular acceleration of the unmanned vehicle, angle
Speed, course, height and this aircraft identification code are sent to the reception controller 23, two rangings receive structures 22 with it is described
It receives controller 23 to connect, the data that the ranging receives structure 22 based on the received of controller 23 that receive calculate the nothing
The relative coordinate of people's aircraft obtains the absolute geographical location of origin according to GPS positioning device, according to the unmanned vehicle
Opposite geographical location and the absolute geographical location of origin calculate the absolute geographical location of the unmanned vehicle, thus to judge
The whether illegal offer foundation of unmanned vehicle is provided.
To achieve the goals above, the utility model additionally provides following scheme:
Fig. 2 is the flow chart of the method for a kind of positioning of unmanned vehicle and identification.
As shown in Fig. 2, a kind of method of unmanned vehicle positioning and identification, the method is applied to a kind of above-mentioned nothing
People's Aerial vehicle position and the device of identification, which comprises
Step 100: obtaining the unmanned vehicle for the airborne information collection end detection being mounted on unmanned vehicle
Angular acceleration, angular speed, course, height, identity code；
Step 200: two rangings of acquisition receive structures receive the unmanned vehicle transmitting wireless signal when
Between, receiving time is obtained, described two receiving end settings are on the ground；
Step 300: the unmanned vehicle is calculated separately at a distance from two receiving ends according to the receiving time,
Obtain first distance L1With second distance L2；
Step 400: according between the first distance, the second distance, the height and described two receiving ends
Distance calculates the absolute geographical location of the unmanned vehicle using principle of triangulation, obtains the absolute geographical location of aircraft；
Specific steps are as follows:
Using the midpoint of described two receiving ends as origin, the opposite of the unmanned vehicle is calculated using principle of triangulation
Geographical location obtains the absolute geographical location of origin according to GPS module, according to the opposite geographical location of the unmanned vehicle and
The absolute geographical location of origin calculates the absolute geographical location of the unmanned vehicle.
Step 500: the flight range of aircraft is determined according to the absolute geographical location of the aircraft, according to the identity
Identification code determines the flight range, flight angular acceleration, flight angular speed, flight course of the aircraft of national regulation；
Step 600: judge the aircraft flight range whether the national regulation the aircraft flight
In region；If executing step 700；If not, determining that the aircraft is illegal, and institute is obtained according to identity code
The register information of the affiliated people of unmanned vehicle is stated, to punish.
Step 700: judge the angular acceleration, the angular speed, the course whether meet the flight angular acceleration,
The flight angular speed, the flight course, if so, determining that the aircraft is not illegal, if it is not, determining the flight
Device is illegal.
It is described according to the distance between the first distance, the second distance, the height and described two receiving ends
The geographical location of the unmanned vehicle is calculated using principle of triangulation, is obtained aircraft geographic location and is specifically included:
Coordinate system is established as coordinate origin using the midpoint of described two receiving ends, the geographical of the coordinate origin is obtained and sits
Mark obtains and receives coordinate system and reception geographical coordinate；
The unmanned vehicle is projected into ground and obtains subpoint；
Fig. 3 is principle of triangulation schematic diagram.
As shown in figure 3, according to the first distance L1, the second distance L2, the height h and described two receiving ends
The distance between using principle of triangulation calculate the subpoint it is described reception coordinate system in coordinate, obtain receive projection
Point coordinate (h1,h2)；
The distance of described two receiving ends to the subpoint is the first projector distance L3With the second projector distance L4, described
First projector distanceSecond projector distance
According to the first projector distance L3, the second projector distance L4The distance between described two receiving ends meter
Coordinate of the subpoint in the reception coordinate system is calculated, obtains and receives subpoint coordinate (h1,h2)。
The geographical location of the unmanned vehicle is calculated according to the reception geographical coordinate and the reception subpoint coordinate,
Obtain aircraft geographic location.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For system disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
Specific case used herein is expounded the principles of the present invention and embodiment, above embodiments
Explanation be merely used to help understand the method and its core concept of the utility model；Meanwhile for the general technology of this field
Personnel, based on the idea of the present invention, there will be changes in the specific implementation manner and application range.In conclusion
The content of the present specification should not be construed as a limitation of the present invention.
Claims (4)
1. the device of a kind of unmanned vehicle positioning and identification, which is characterized in that described device includes: that airborne information is collected
End, fixed test end and wireless telecom equipment, the airborne information collection end are arranged on unmanned vehicle, the fixed test
On the detection vehicle of end setting on the ground；
The airborne information collection end includes ten axis gyroscopes, ranging transmitting equipment, on-board controller；
The fixed test end includes GPS positioning device, two rangings reception structures, receives controller, timer；
The ten axis gyroscope is connect with the on-board controller, and the ten axis gyroscope is for detecting the unmanned vehicle
Angular acceleration, angular speed, course, height, and the angular acceleration, the angular speed, the course, the height are sent to
The on-board controller；
The on-board controller and the reception controller pass through wireless telecommunications system respectively and are wirelessly connected, the airborne control
Itself identification code of the unmanned vehicle is sent to the reception controller by device processed；
The GPS positioning device is connect with the reception controller, the GPS positioning device by it is described detection vehicle geographical position
Confidence breath is sent to the reception controller；
The ranging transmitting equipment receives structure wireless with described two rangings and connect, and the ranging transmitting equipment is surveyed for emitting
Away from signal, and the distance measuring signal is sent to described two rangings and receives structure；Described two rangings receive structure and set respectively
Set the headstock and the tailstock in the detection vehicle；
Described two rangings receive structure and connect with the reception controller, and described two rangings receive structure and receive the survey
After signal, described two rangings receive structure and the distance measuring signal are sent to the reception controller, the reception control
After device receives the distance measuring signal, the reception controller control timer stops timing, and according to distance measuring signal spread speed
And the time of timer carrys out distance between calculating said ranging transmitting equipment and two reception controllers.
2. the device of a kind of unmanned vehicle positioning according to claim 1 and identification, which is characterized in that the nothing
Line communication equipment specifically includes airborne wireless communication equipment and in-vehicle wireless communications device.
3. the device of a kind of unmanned vehicle positioning according to claim 1 and identification, which is characterized in that the meter
When device further include two timers and wireless signal transmission equipment；
Described two timers are connect with the reception controller respectively, and described two timers obtain the distance measuring signal respectively
It is transferred to the time that described two rangings receive structure；
The wireless signal transmission equipment is periodically to air-launched wireless signal, and the unmanned vehicle is by receiving the nothing
Connection is established at line signal and the fixed test end.
4. the device of a kind of unmanned vehicle positioning according to claim 1 and identification, which is characterized in that described ten
Axis gyroscope specifically includes: three axis angular acceleration gyroscopes, three axis angular rate gyroscopes, three axis earth magnetism gyroscopes, altimeter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820569110.3U CN208315015U (en) | 2018-04-20 | 2018-04-20 | A kind of device of unmanned vehicle positioning and identification |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820569110.3U CN208315015U (en) | 2018-04-20 | 2018-04-20 | A kind of device of unmanned vehicle positioning and identification |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208315015U true CN208315015U (en) | 2019-01-01 |
Family
ID=64718877
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820569110.3U Active CN208315015U (en) | 2018-04-20 | 2018-04-20 | A kind of device of unmanned vehicle positioning and identification |
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| Country | Link |
|---|---|
| CN (1) | CN208315015U (en) |
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2018
- 2018-04-20 CN CN201820569110.3U patent/CN208315015U/en active Active
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