CN211698162U - Data acquisition and positioning precision measurement system - Google Patents
Data acquisition and positioning precision measurement system Download PDFInfo
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- CN211698162U CN211698162U CN201922399338.XU CN201922399338U CN211698162U CN 211698162 U CN211698162 U CN 211698162U CN 201922399338 U CN201922399338 U CN 201922399338U CN 211698162 U CN211698162 U CN 211698162U
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Abstract
The utility model belongs to the technical field of unmanned aerial vehicle space positioning precision measures, specific data acquisition and positioning precision measurement system that says so. The device comprises a support frame, a slide rail arranged on the support frame, a movable slide block, a slide block driving motor, a motor controller, a data acquisition controller, an upper computer and a transmission mechanism; the movable sliding block is in sliding fit with the sliding rail and is used for bearing the tested airborne base station; the slide block driving motor is connected with the movable slide block through a transmission mechanism; the data acquisition controller is arranged on the movable sliding block and is communicated with the upper computer in a wireless data transmission module or serial port mode; the motor controller is connected with the sliding block driving motor and is communicated with the upper computer in a wireless data transmission module or serial port mode. The utility model discloses realize unmanned aerial vehicle space positioning system's high accuracy measurement, satisfy the required static state of unmanned aerial vehicle flight control and dynamic positioning accuracy requirement, but also can provide accurate measurement yardstick for selecting ripe positioning system or research and development positioning system.
Description
Technical Field
The utility model belongs to the technical field of unmanned aerial vehicle space positioning precision measures, specific data acquisition and positioning precision measurement system that says so.
Background
Drones can be divided into two types, fixed wing and rotor. The flight of the unmanned aerial vehicle can be divided into three phases; autonomous takeoff, autonomous cruise and autonomous landing. However, the unmanned aerial vehicle needs to be precisely spatially positioned and guided in the autonomous take-off and landing stages, and particularly has very high requirements on spatial positioning accuracy in an environment with limited autonomous take-off and landing space.
The precision measurement of the space positioning system is a very important link in the design of the unmanned aerial vehicle flight control system. Whether developed by themselves or using sophisticated spatial positioning systems, the measurement of the dynamic and static accuracy of the system is a pressing need.
The current commonly used positioning systems such as GPS and the like all have technical manuals, and the precision requirements on the technical manuals can be directly referred to under the condition of low precision requirements. However, not only the static positioning accuracy but also the dynamic positioning accuracy is measured under the autonomous take-off and landing and related accurate positioning requirements in a narrow space. However, systems aiming at centimeter-level positioning accuracy such as differential GPS are currently only measurement in some simulation environments, but laboratory measurement means in such simulation environments cannot meet the real external field experimental environment. The airborne mobile positioning end precision is measured by utilizing the distance relation between two points in space, the implementation scheme is simple, the space limitation is avoided, the positioning system precision can be measured at high precision, the actual flying test environment is more truly approached, and a reliable measurement means can be provided for the selection or research and development of the positioning system of the unmanned aerial vehicle.
SUMMERY OF THE UTILITY MODEL
To the problem, an object of the utility model is to provide a data acquisition and positioning accuracy measurement system to realize unmanned aerial vehicle space positioning system's high accuracy measurement, satisfy the required static state of unmanned aerial vehicle flight control and dynamic positioning accuracy requirement, but also can provide accurate measurement yardstick for selecting ripe positioning system or research and development positioning system.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a data acquisition and positioning precision measurement system comprises a support frame, a slide way arranged on the support frame, a movable slide block, a slide block driving motor, a motor controller, a data acquisition controller, an upper computer and a transmission mechanism;
the movable sliding block is in sliding fit with the slide way and is used for bearing a tested airborne base station;
the sliding block driving motor is connected with the movable sliding block through a transmission mechanism;
the data acquisition controller is arranged on the movable sliding block and is communicated with an upper computer in a wireless data transmission module or serial port mode;
the motor controller is connected with the sliding block driving motor and is communicated with an upper computer in a wireless data transmission module or serial port mode.
The transmission mechanism is a belt transmission mechanism and comprises a belt, a driving belt wheel and a driven belt wheel, the driving belt wheel is arranged on an output shaft of the sliding block driving motor, the driven belt wheel is rotatably arranged on the supporting frame and connected with the driving belt wheel through the belt, and the belt is connected with the movable sliding block.
The belt and the slide way are arranged in parallel.
And the slide way is provided with scale marks for measuring the spatial linear displacement of the movable slide block.
The data acquisition controller is connected with the motor controller through a serial port.
The data acquisition controller comprises a data acquisition control circuit board.
The support frame is of a cubic structure formed by welding angle aluminum.
The utility model has the advantages and beneficial effects that:
1. the utility model discloses realize unmanned aerial vehicle space positioning system's high accuracy measurement, satisfy the required static state of unmanned aerial vehicle flight control and dynamic positioning accuracy requirement, but also can provide accurate measurement yardstick for selecting ripe positioning system or research and development positioning system.
2. The data acquisition controller can store data in the SD card in real time, send the data to real-time positioning accuracy analysis upper computer software for data redundancy backup, and use the SD card to store data for offline positioning accuracy analysis.
3. The utility model discloses it is small, can realize the positioning accuracy measurement in outdoor arbitrary space, not restricted by the space, easy operation, practicality.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the measurement of the static positioning accuracy of the present invention;
fig. 3 is the dynamic positioning accuracy measurement schematic diagram of the present invention.
Wherein: the device comprises a support frame 1, a slide rail 2, a movable slide block 3, a slide block driving motor 4, a motor controller 5, a data acquisition controller 6, an upper computer 7, a wireless data transmission module 8 and a belt transmission device 9.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the utility model provides a data acquisition and positioning accuracy measurement system, which comprises a support frame 1, a slide way 2 arranged on the support frame 1, a movable slider 3, a slider driving motor 4, a motor controller 5, a data acquisition controller 6, an upper computer 7 and a transmission mechanism; the movable sliding block 3 is in sliding fit with the slideway 2, and the movable sliding block 3 is used for bearing a tested airborne base station; the slide block driving motor 4 is connected with the movable slide block 3 through a transmission mechanism; the data acquisition controller 6 is arranged on the movable sliding block 3 and is communicated with the upper computer 7 in a wireless data transmission module 8 or serial port mode; the motor controller 5 is connected with the slide block driving motor 4 and is communicated with the upper computer 7 in a wireless data transmission module 8 or a serial port mode. And positioning modules, such as a GPS positioning module, are arranged in the ground base station and the airborne base station.
The embodiment of the utility model provides an in, the cube structure that support frame 1 becomes through angle aluminium welding. The transmission mechanism is a belt transmission mechanism and comprises a belt 9, a driving belt wheel and a driven belt wheel, the driving belt wheel is arranged on an output shaft of the sliding block driving motor 4, the driven belt wheel is rotatably arranged on the support frame 1 and is connected with the driving belt wheel through the belt 9, and the belt 9 is connected with the movable sliding block 3. The belt 9 is arranged in parallel with the slide way 2, and the slide block driving motor 4 drives the belt 9 to rotate, so that the movable slide block 3 is driven to move along the slide way 2.
The embodiment of the utility model provides an in, slide 2's length is 1m, is equipped with the scale mark that is used for measuring the space linear displacement of moving slide 3 on slide 2.
The data acquisition controller 6 is connected with the motor controller 5 through a serial port, the data acquisition controller 6 comprises a data acquisition control circuit board and is used for high-frequency acquisition positioning or ranging data acquisition and storage, acquired data can be stored in an SD card, the acquired data are sent to the upper computer 7 through the serial port to be stored and analyzed, and redundant backup data are achieved. Meanwhile, the data acquisition controller 6 communicates with the motor controller 5 through a serial port and communicates with the upper computer 7 through the wireless data transmission module 8 or a serial port mode, a motor control command of the upper computer 7 is forwarded to the motor controller 5, and information such as position, speed and the like acquired by the motor controller 5 is forwarded to the upper computer 7 for monitoring and displaying. The upper computer 7 is connected and communicated with the data acquisition controller 6 through a wireless data transmission module 8 or a serial port wired connection mode, is mainly used for processing positioning precision analysis and displaying the state quantity and the positioning precision curve of the measuring system in real time, and simultaneously has the functions of operating and controlling the moving speed and the position of the moving slide block 3. The upper computer 7 is a computer or a PC (personal computer), the motor controller 5 adopts an STM32-ARM processor, the sliding block driving motor 4 and the data acquisition device 6 adopt an STM32-ARM processor, and the wireless data transmission module 8 is MM 2-T.
Further, the moving slide block 3 is used for installing the antenna of the measured point or related equipment, namely the measured airborne base station, and ensures that the measured point can accurately move for a specified distance with the accuracy of 1 cm. The slide block driving motor 4 can be controlled by the motor controller 5 to accurately control the rotating speed, and the accurate movement of the movable slide block 3 on the slide way 2 can be realized by controlling the rotating speed.
Further, the upper computer 7 has functions of data analysis and display, motor control and display, data storage and display, and the like. The upper computer 7 is in serial port communication and is in wired and wireless connection communication with the data acquisition controller 6, so that data storage and display, motor control and display, positioning data analysis and real-time data curve display are realized, and a positioning precision measurement result can be visually obtained.
Furthermore, in the data acquisition and positioning accuracy measurement system, the length, width and height of the support frame 1d are respectively 1m, 0.8m and 0.5m, and the structure is light in weight, convenient to carry and free from space limitation.
The utility model discloses a data acquisition and positioning accuracy measurement system utilizes two point distance measurement principles in space to realize positioning system's static and dynamic positioning accuracy measurement. The whole measuring system only needs 12V lithium batteries for power supply. The device can be connected with a notebook computer, can check the positioning precision measurement result in real time, and can also use the data stored by the SD card for off-line positioning precision analysis.
As shown in fig. 2, during the static positioning accuracy measurement, the airborne base station is fixed on the movable slide block 3, placed at the position a of the meter ruler 0 scale, and connected with the data acquisition board through the serial port. The measured ground base station is placed at an arbitrary position C (based on the display data) from the airborne base station Dm (D is 100m,50m,30 m). The system is powered on, and starts to collect three-coordinate (Xa, Ya, Za) data relative to the ground base station from the 'airborne base station', and the time is collected for 15 minutes. After the data of 15 minutes are collected at the position A, the system is not powered off, and the movable slide block 3 is accurately moved to the position B of 100 cm. And after timing for 15 minutes, the system is powered off, the acquired data is copied, and the two-point distance d of the acquired data is calculated through a space two-point distance formula. And the positioning error is calculated by using the formulas (1), (2) and (3), and the static positioning precision is analyzed.
Δ＝100-d (2)
|Δ|≤g (3)
Wherein (X)a,Ya,Za)、(Xb,Yb,Zb) The distance between two spatial points AB calculated by the position coordinates of the two points A and B on the sliding track, d is the position coordinates of the two points A and B, delta is a positioning error, | delta | is an error precision, and g is an error precision threshold, and can be set according to the required measurement precision.
As shown in fig. 3, the dynamic test scheme is to slide the "airborne base station" back and forth between the "position a" and the "position B" (motor control) on the slide way 2 based on the above static test, analyze whether the three-dimensional trajectory is a straight trajectory with a length of 1 meter, and calculate the sliding trajectory boundary.
The utility model discloses realize all kinds of space positioning system's developments and static precision measurement, for all kinds of unmanned aerial vehicle positioning system's selection and research and development provide positioning accuracy measure reliably, measure positioning accuracy <1 cm.
The utility model discloses realize unmanned aerial vehicle space positioning system's high accuracy measurement, satisfy the required static state of unmanned aerial vehicle flight control and dynamic positioning accuracy requirement, but also can provide accurate measurement yardstick for selecting ripe positioning system or research and development positioning system. The data acquisition controller not only can save the SD card with data in real time for off-line positioning accuracy analysis still carries out data analysis for real-time positioning accuracy analysis host computer software with data transmission, in addition, the utility model discloses it is small, can realize the positioning accuracy measurement of outdoor arbitrary space, not restricted by the space, easy operation, it is practical.
The above description is only for the embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.
Claims (7)
1. A data acquisition and positioning precision measurement system is characterized by comprising a support frame (1), a slide way (2) arranged on the support frame (1), a movable slide block (3), a slide block driving motor (4), a motor controller (5), a data acquisition controller (6), an upper computer (7) and a transmission mechanism;
the movable sliding block (3) is in sliding fit with the slide way (2), and the movable sliding block (3) is used for bearing a tested airborne base station;
the sliding block driving motor (4) is connected with the movable sliding block (3) through a transmission mechanism;
the data acquisition controller (6) is arranged on the movable sliding block (3) and is communicated with the upper computer (7) in a wireless data transmission module (8) or serial port mode;
the motor controller (5) is connected with the sliding block driving motor (4) and is communicated with the upper computer (7) in a wireless data transmission module (8) or serial port mode.
2. The data acquisition and positioning accuracy measurement system according to claim 1, wherein the transmission mechanism is a belt transmission mechanism, and comprises a belt (9), a driving pulley and a driven pulley, the driving pulley is disposed on the output shaft of the slider driving motor (4), the driven pulley is rotatably disposed on the supporting frame (1) and connected with the driving pulley through the belt (9), and the belt (9) is connected with the movable slider (3).
3. The data acquisition and positioning accuracy measurement system according to claim 2, characterized in that the belt (9) is arranged parallel to the slide (2).
4. The data acquisition and positioning accuracy measurement system according to claim 1, wherein the slide (2) is provided with scale marks for measuring the spatial linear displacement of the movable slider (3).
5. The data acquisition and positioning accuracy measurement system according to claim 1, wherein the data acquisition controller (6) is connected to the motor controller (5) via a serial port.
6. The data acquisition and positioning accuracy measurement system according to claim 1, characterized in that said data acquisition controller (6) comprises a data acquisition control circuit board.
7. The data acquisition and positioning accuracy measurement system according to claim 1, characterized in that the support frame (1) is a cubic structure welded by corner aluminum.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922399338.XU CN211698162U (en) | 2019-12-27 | 2019-12-27 | Data acquisition and positioning precision measurement system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922399338.XU CN211698162U (en) | 2019-12-27 | 2019-12-27 | Data acquisition and positioning precision measurement system |
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| CN211698162U true CN211698162U (en) | 2020-10-16 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113055073A (en) * | 2019-12-27 | 2021-06-29 | 中国科学院沈阳自动化研究所 | Data acquisition and positioning precision measurement system and method |
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2019
- 2019-12-27 CN CN201922399338.XU patent/CN211698162U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113055073A (en) * | 2019-12-27 | 2021-06-29 | 中国科学院沈阳自动化研究所 | Data acquisition and positioning precision measurement system and method |
| CN113055073B (en) * | 2019-12-27 | 2023-06-20 | 中国科学院沈阳自动化研究所 | System and method for data acquisition and positioning accuracy measurement |
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