CN216083500U - Airborne dynamic differential GPS auxiliary system of high prototype unmanned aerial vehicle - Google Patents
Airborne dynamic differential GPS auxiliary system of high prototype unmanned aerial vehicle Download PDFInfo
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- CN216083500U CN216083500U CN202122153655.0U CN202122153655U CN216083500U CN 216083500 U CN216083500 U CN 216083500U CN 202122153655 U CN202122153655 U CN 202122153655U CN 216083500 U CN216083500 U CN 216083500U
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Abstract
A high prototype unmanned aerial vehicle machine carries dynamic difference GPS auxiliary system includes: the low-altitude unmanned aerial vehicle is provided with a digital camera and an airborne differential GPS, the digital camera is used for aerial photography on the low-altitude unmanned aerial vehicle, the airborne differential GPS is used for tracking and observing satellite signals, a controller is arranged in the low-altitude unmanned aerial vehicle, the controller is correspondingly and electrically connected with the digital camera and the airborne differential GPS respectively, and a gyroscope and an accelerator are arranged on the controller so as to measure the angular velocity and the acceleration of an aerial object in a three-dimensional space and calculate the flight attitude of the low-altitude unmanned aerial vehicle; the GPS receiver is matched with the airborne differential GPS and used for receiving signals transmitted by the airborne differential GPS and realizing synchronous observation with the airborne differential GPS; and the ground control station is connected with a controller in the low-altitude unmanned aerial vehicle through a radio station so as to upload the inflection point information and the exposure point position of each route to the controller.
Description
The technical field is as follows:
the utility model relates to an airborne dynamic differential GPS auxiliary system of a high prototype unmanned aerial vehicle.
Background art:
in recent years, an aerial survey remote sensing system based on an unmanned aerial vehicle aircraft is a novel spatial information acquisition system which is rapidly developed at home and abroad, and the system takes the unmanned aerial vehicle as a flight platform and utilizes equipment such as an IMU (inertial measurement Unit), a GPS (global positioning system) receiver, an airborne non-surveying camera and the like to carry out work such as observation, image data shooting and the like on the ground; compared with the traditional aerial photogrammetry system, the system has the advantages of high efficiency, rapidness, fineness, accuracy, flexibility, safety, reliability, high image resolution, relatively low operation cost and the like.
Under general conditions, the aerial photography system of the unmanned aerial vehicle is provided with a non-measurement camera, the image size of the shot image is small, the distortion is large, the base line is short, a large number of image control points need to be arranged when a large-scale 3D product is produced, the field work load is large, and the depth and the width of the unmanned aerial vehicle used in the large-scale production are greatly influenced. The existing processing mode mainly comprises the steps of establishing a check field to improve camera distortion and independently developing image processing software, and the two processing modes have long implementation periods, need to spend long time and support a large amount of experimental data, and have very complicated actual operation steps; meanwhile, in a complicated working environment in a plateau, the two processing modes cannot be well applied.
Aiming at the problems, a highland unmanned aerial vehicle-mounted dynamic differential GPS technology is provided in the production of the highland large-scale 3D product, high-precision POS straight line element data is obtained based on the functional characteristics of a differential GPS, and auxiliary aerial triangulation beam method area network adjustment encryption calculation is carried out by using the POS data and a small number of image control points obtained by field operation so as to meet the requirement of the production of the large-scale 3D product.
The utility model has the following contents:
the utility model provides a dynamic differential GPS technology on board of a plateau unmanned aerial vehicle, which has a reasonable design principle, carries a differential GPS on the unmanned aerial vehicle for aerial photography, obtains high-precision POS straight line element data based on the functional characteristics of the differential GPS, and uses the POS data to assist in aerial triangulation beam method area network adjustment encryption and calculation, thereby shortening the actual working time, simplifying the operation steps, further improving the aerial triangulation precision by laying a framework route, achieving the purpose that the area network air adjustment precision requirement can be met by a small number of picture control points, accumulating precious experience for wider and deeper actual popularization and application of the unmanned aerial vehicle in a plateau area, being more suitable for a plateau complex working environment, and solving the problems in the prior art.
The technical scheme adopted by the utility model for solving the technical problems is as follows:
a high prototype unmanned aerial vehicle machine carries dynamic difference GPS auxiliary system includes:
the low-altitude unmanned aerial vehicle is provided with a digital camera and an airborne differential GPS, the digital camera is used for aerial photography on the low-altitude unmanned aerial vehicle, the airborne differential GPS is used for tracking and observing satellite signals, a controller is arranged in the low-altitude unmanned aerial vehicle, the controller is correspondingly and electrically connected with the digital camera and the airborne differential GPS respectively, and a gyroscope and an accelerator are arranged on the controller so as to measure the angular velocity and the acceleration of an aerial object in a three-dimensional space and calculate the flight attitude of the low-altitude unmanned aerial vehicle;
the GPS receiver is matched with the airborne differential GPS and used for receiving signals transmitted by the airborne differential GPS and realizing synchronous observation with the airborne differential GPS;
and the ground control station is connected with a controller in the low-altitude unmanned aerial vehicle through a radio station so as to upload the inflection point information and the exposure point position of each route to the controller.
The digital camera is provided with a camera cloud platform, and the camera cloud platform is connected with the controller.
The low-altitude unmanned aerial vehicle is LT-150M, is a small fixed wing aircraft, has the maximum lift limit of 6000M, the cruising speed of 110 km/h and the lowest speed of 80 km/h.
The digital camera is a Canon 5D MarKIII non-measuring type common digital camera, the pixels of the camera are 2200 ten thousand, the focal length of a lens is 34.34823mm, the size of the pixels is 6.25um by 6.25um, and the phase amplitude is 5760 by 3840 pixels; the image resolution was 0.2 m.
The airborne differential GPS is an AGS200 type GPS, and a plurality of receiving channels and interfaces for data communication with the ground control station are arranged on the airborne differential GPS.
The GPS receiver is a high dynamic dual-frequency GPS receiver.
By adopting the structure, the aerial photography is carried out by carrying the digital camera on the low-altitude unmanned aerial vehicle, so that the aerial photography image with better quality is obtained; tracking and observing all visible satellite signals to the maximum extent through an airborne differential GPS; the angular speed and the acceleration of the aerial object in the three-dimensional space are measured through a gyroscope and an accelerator on the controller to calculate the flight attitude of the low-altitude unmanned aerial vehicle; the GPS receiver and the airborne differential GPS are matched to receive signals transmitted by the airborne differential GPS, and synchronous observation is realized with the airborne differential GPS; the ground control station is matched with the controller to upload inflection point information of each route and the position of the exposure point to the controller, and the method has the advantages of simplicity, convenience, practicability, accuracy and high efficiency.
Description of the drawings:
FIG. 1 is a schematic structural diagram of the present invention.
The specific implementation mode is as follows:
in order to clearly explain the technical features of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings.
As shown in fig. 1, a high prototype unmanned aerial vehicle airborne dynamic differential GPS aiding system includes:
the low-altitude unmanned aerial vehicle is provided with a digital camera and an airborne differential GPS, the digital camera is used for aerial photography on the low-altitude unmanned aerial vehicle, the airborne differential GPS is used for tracking and observing satellite signals, a controller is arranged in the low-altitude unmanned aerial vehicle, the controller is correspondingly and electrically connected with the digital camera and the airborne differential GPS respectively, and a gyroscope and an accelerator are arranged on the controller so as to measure the angular velocity and the acceleration of an aerial object in a three-dimensional space and calculate the flight attitude of the low-altitude unmanned aerial vehicle;
the GPS receiver is matched with the airborne differential GPS and used for receiving signals transmitted by the airborne differential GPS and realizing synchronous observation with the airborne differential GPS;
and the ground control station is connected with a controller in the low-altitude unmanned aerial vehicle through a radio station so as to upload the inflection point information and the exposure point position of each route to the controller.
The digital camera is provided with a camera cloud platform, and the camera cloud platform is connected with the controller.
The low-altitude unmanned aerial vehicle is LT-150M, is a small fixed wing aircraft, has the maximum lift limit of 6000M, the cruising speed of 110 km/h and the lowest speed of 80 km/h.
The digital camera is a Canon 5D MarKIII non-measuring type common digital camera, the pixels of the camera are 2200 ten thousand, the focal length of a lens is 34.34823mm, the size of the pixels is 6.25um by 6.25um, and the phase amplitude is 5760 by 3840 pixels; the image resolution was 0.2 m.
The airborne differential GPS is an AGS200 type GPS, and a plurality of receiving channels and interfaces for data communication with the ground control station are arranged on the airborne differential GPS.
The GPS receiver is a high dynamic dual-frequency GPS receiver.
The working principle of the airborne dynamic differential GPS auxiliary system of the high prototype unmanned aerial vehicle in the embodiment of the utility model is as follows: the unmanned aerial vehicle is provided with the differential GPS for aerial photography, high-precision POS straight line element data are obtained based on the functional characteristics of the differential GPS, the POS data are used for assisting aerial triangulation beam method block adjustment encryption calculation, the actual working time is shortened, the operation steps are simplified, the three-precision of the altitude is improved by laying a framework route, the purpose that the three-precision of the block altitude can be met by a small number of photo control points is achieved, precious experience is accumulated for wider and deeper actual popularization and application of the unmanned aerial vehicle in a plateau area, and the unmanned aerial vehicle is more suitable for a complicated working environment of the plateau.
Specifically, the application area of the airborne dynamic differential GPS auxiliary system of the plateau unmanned aerial vehicle in the embodiment of the utility model is located in Dulan county, west and west of the Hopkins basin, the Hopkins basin is located, the east-south length is about 9.7 kilometers, the south-north length is about 3.1 kilometers, the total area is about 30 square kilometers, the elevation of the measurement area is 3000 + 3200 meters, the average elevation is 3080 meters, and the terrain is relatively flat and has small height difference.
In the integral scheme, the low-altitude unmanned aerial vehicle mainly comprises a low-altitude unmanned aerial vehicle, a GPS receiver and a ground control station, wherein a digital camera and an airborne differential GPS are arranged on the low-altitude unmanned aerial vehicle and are used for aerial photography and tracking and observing satellite signals on the low-altitude unmanned aerial vehicle; meanwhile, a GPS receiver matched with the airborne differential GPS is also arranged to receive signals transmitted by the airborne differential GPS and realize synchronous observation with the airborne differential GPS; the controller is also connected with a ground control station through a radio station so as to lay the framework routes and upload the inflection point information and the exposure point position of each route to the controller.
Preferably, a camera cloud platform is arranged on the digital camera and connected with the controller, and the aerial images are transmitted to the controller accurately in time.
Preferably, the low-altitude unmanned aerial vehicle is LT-150M, is a small fixed wing aircraft, has the maximum lifting limit of 6000M, the cruising speed of 110 km/h and the lowest speed of 80 km/h, has good plateau flight operation capability after multiple times of plateau complex environment flight tests, and has satisfactory flight attitude in the aspects of aerial correction, pitching, rolling and rolling control by an advanced GPS global positioning system.
Preferably, the digital camera is a Canon 5D MarKIII non-measuring type common digital camera, the pixels of the camera are 2200 ten thousand, the focal length of a lens is 34.34823mm, the size of the pixels is 6.25um by 6.25um, and the amplitude of the pixels is 5760 by 3840 pixels; the image resolution was 0.2m and was rigorously verified prior to use.
Preferably, the airborne differential GPS is an AGS200 type GPS, is a low-power consumption and high-performance GNSS receiver specially designed for unmanned aerial vehicle aerial photography, is internally provided with a high-performance embedded microprocessor, can realize a data sampling rate of up to 5Hz, supports multiple receiving channels, and can track and observe all visible satellite signals to the maximum extent, including china-BDNS, us-GPS, russia-GLONASS and eu-galileo GNS signals.
Preferably, the GPS receiver is a high dynamic dual-frequency GPS receiver, adopts advanced receiving technology and mature system design, realizes the optimization of measuring precision and working efficiency, and can well carry out synchronous observation with an airborne differential GPS.
When in actual use, firstly, determining the flight height according to the focal length of the camera, the pixel size of the digital camera, the ground resolution and the average elevation of a measuring area; and then the ground control station uploads the inflection point information of each route and the position of the exposure point to the controller through the radio station, the GPS receiver performs real-time positioning and navigation at the frequency of 5HZ in the aerial photographing process, and a gyroscope and an accelerator in the controller measure the angular speed and the acceleration of the aerial object in a three-dimensional space and work out the postures of the aircraft such as rolling, pitching, direction and the like according to the angular speed and the acceleration.
The attitude deviation generated by unstable flight is corrected at any time by the controller to level the camera pan-tilt in real time, so that the camera is placed horizontally as much as possible, and simultaneously the ground reference station and the airborne differential GPS receiver synchronously observe at the frequency of 5HZ at the sampling rate of 1 s.
Particularly, the controller adopts a fixed-point exposure mode in the process of controlling the digital camera, when the unmanned aerial vehicle flies to a pre-designed position, the controller sends a command of opening a shutter of the digital camera, controls the digital camera to expose for aerial photography, and quickly records an exposure pulse signal of the camera on a time scale of the GPS receiver, so that the GPS time of the exposure of the photo can be determined, and then the three-dimensional shooting coordinate of each photo is interpolated and calculated.
In actual production, due to the fact that factors such as terrain and weather of a survey area are complex and changeable, data acquisition quality is different, and air-to-three encryption precision requirements of all aerial survey items are different, test results need to be fully used for reference, and a point distribution scheme is flexibly adopted according to actual conditions, so that production benefits are achieved.
The above-described embodiments should not be construed as limiting the scope of the utility model, and any alternative modifications or alterations to the embodiments of the present invention will be apparent to those skilled in the art.
The present invention is not described in detail, but is known to those skilled in the art.
Claims (6)
1. The utility model provides a high prototype unmanned aerial vehicle machine carries dynamic difference GPS auxiliary system which characterized in that includes:
the low-altitude unmanned aerial vehicle is provided with a digital camera and an airborne differential GPS, the digital camera is used for aerial photography on the low-altitude unmanned aerial vehicle, the airborne differential GPS is used for tracking and observing satellite signals, a controller is arranged in the low-altitude unmanned aerial vehicle, the controller is correspondingly and electrically connected with the digital camera and the airborne differential GPS respectively, and a gyroscope and an accelerator are arranged on the controller so as to measure the angular velocity and the acceleration of an aerial object in a three-dimensional space and calculate the flight attitude of the low-altitude unmanned aerial vehicle;
the GPS receiver is matched with the airborne differential GPS and used for receiving signals transmitted by the airborne differential GPS and realizing synchronous observation with the airborne differential GPS;
and the ground control station is connected with a controller in the low-altitude unmanned aerial vehicle through a radio station so as to upload the inflection point information and the exposure point position of each route to the controller.
2. The high altitude type unmanned aerial vehicle airborne dynamic differential GPS auxiliary system of claim 1, characterized in that: the digital camera is provided with a camera cloud platform, and the camera cloud platform is connected with the controller.
3. The high altitude type unmanned aerial vehicle airborne dynamic differential GPS auxiliary system of claim 1, characterized in that: the low-altitude unmanned aerial vehicle is LT-150M, is a small fixed wing aircraft, has the maximum lift limit of 6000M, the cruising speed of 110 km/h and the lowest speed of 80 km/h.
4. The high altitude type unmanned aerial vehicle airborne dynamic differential GPS auxiliary system of claim 1, characterized in that: the digital camera is a Canon 5D MarKII I non-measuring type common digital camera, the pixels of the camera are 2200 ten thousand, the focal length of a lens is 34.34823mm, the size of the pixels is 6.25um by 6.25um, and the phase amplitude is 5760 by 3840 pixels; the image resolution was 0.2 m.
5. The high altitude type unmanned aerial vehicle airborne dynamic differential GPS auxiliary system of claim 1, characterized in that: the airborne differential GPS is an AGS200 type GPS, and a plurality of receiving channels and interfaces for data communication with the ground control station are arranged on the airborne differential GPS.
6. The high altitude type unmanned aerial vehicle airborne dynamic differential GPS auxiliary system of claim 1, characterized in that: the GPS receiver is a high dynamic dual-frequency GPS receiver.
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| CN202122153655.0U CN216083500U (en) | 2021-09-07 | 2021-09-07 | Airborne dynamic differential GPS auxiliary system of high prototype unmanned aerial vehicle |
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| CN202122153655.0U CN216083500U (en) | 2021-09-07 | 2021-09-07 | Airborne dynamic differential GPS auxiliary system of high prototype unmanned aerial vehicle |
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