FR3100895B1 - Swarm drone automatic positioning method and system - Google Patents

Swarm drone automatic positioning method and system Download PDF

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Publication number
FR3100895B1
FR3100895B1 FR1910053A FR1910053A FR3100895B1 FR 3100895 B1 FR3100895 B1 FR 3100895B1 FR 1910053 A FR1910053 A FR 1910053A FR 1910053 A FR1910053 A FR 1910053A FR 3100895 B1 FR3100895 B1 FR 3100895B1
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France
Prior art keywords
drone
automatic positioning
positioning method
central computer
swarm
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FR1910053A
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French (fr)
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FR3100895A1 (en
Inventor
Laurent Perchais
Rémi Potet
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Priority to FR1910053A priority Critical patent/FR3100895B1/en
Priority to PCT/FR2020/051562 priority patent/WO2021048500A1/en
Publication of FR3100895A1 publication Critical patent/FR3100895A1/en
Application granted granted Critical
Publication of FR3100895B1 publication Critical patent/FR3100895B1/en
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • G01S5/0263—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems
    • G01S5/0264—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems at least one of the systems being a non-radio wave positioning system
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B64U2201/102—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] adapted for flying in formations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
    • G01S2205/03—Airborne

Abstract

Procédé et système de positionnement automatique de drones en essaim La présente invention concerne un procédé de positionnement automatique d’une pluralité de drones (10) évoluant en essaim (100), chaque drone comportant un capteur inertiel (22), un module de localisation (23) pour système de positionnement par satellites, un capteur d’altitude (27, 28), un capteur d’image (26), un module de communication (24) ultra-large bande (UWB) et un calculateur central (25), ledit procédé comprenant pour chaque drone : une étape (500) de mesure de la position et de l’attitude du drone par les différents capteurs et par le module de localisation ; une étape (600) de mesure de distances au moyen du module de communication (24), comme cible, et de modules radiofréquence fixes (200), comme ancres ; une étape (700) de fusion des données issues de tout ou partie des capteurs du drone avec les mesures de distance obtenues à l’étape précédente, dans le calculateur central ; une étape (800) d’estimation de l’état dudit drone. figure pour l’abrégé : figure 1The present invention relates to a method of automatic positioning of a plurality of drones (10) evolving in a swarm (100), each drone comprising an inertial sensor (22), a location module ( 23) for satellite positioning system, an altitude sensor (27, 28), an image sensor (26), an ultra-wideband (UWB) communication module (24) and a central computer (25) , said method comprising for each drone: a step (500) of measuring the position and attitude of the drone by the various sensors and by the location module; a step (600) of measuring distances by means of the communication module (24), as target, and of fixed radiofrequency modules (200), as anchors; a step (700) of merging data from all or part of the drone's sensors with the distance measurements obtained in the previous step, in the central computer; a step (800) of estimating the state of said drone. figure for the abstract: figure 1

FR1910053A 2019-09-12 2019-09-12 Swarm drone automatic positioning method and system Active FR3100895B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR1910053A FR3100895B1 (en) 2019-09-12 2019-09-12 Swarm drone automatic positioning method and system
PCT/FR2020/051562 WO2021048500A1 (en) 2019-09-12 2020-09-10 Method and system for automatically positioning drones in a swarm

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1910053 2019-09-12
FR1910053A FR3100895B1 (en) 2019-09-12 2019-09-12 Swarm drone automatic positioning method and system

Publications (2)

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FR3100895A1 FR3100895A1 (en) 2021-03-19
FR3100895B1 true FR3100895B1 (en) 2021-09-10

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FR1910053A Active FR3100895B1 (en) 2019-09-12 2019-09-12 Swarm drone automatic positioning method and system

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FR (1) FR3100895B1 (en)
WO (1) WO2021048500A1 (en)

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CN113120713B (en) * 2021-04-28 2023-09-08 上海有个机器人有限公司 Elevator positioning method
KR102459019B1 (en) * 2021-05-20 2022-10-31 주식회사 라온컨버전스 Method for location tracking employing grouping flight to UWB
CN113124856B (en) * 2021-05-21 2023-03-14 天津大学 Visual inertia tight coupling odometer based on UWB (ultra wide band) online anchor point and metering method
CN114485639B (en) * 2022-01-19 2023-10-20 浙江大学 UWB positioning drift correction method for indoor navigation
CN114543810B (en) * 2022-02-21 2023-06-13 中山大学 Unmanned aerial vehicle cluster passive positioning method and device under complex environment
CN114623823B (en) * 2022-05-16 2022-09-13 青岛慧拓智能机器有限公司 UWB (ultra wide band) multi-mode positioning system, method and device integrating odometer
CN115617079B (en) * 2022-12-14 2023-02-28 四川轻化工大学 Interactive unmanned aerial vehicle system

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FR1350054A (en) 1962-12-11 1964-01-24 Storage device for heavy items of great length
FR3000813B1 (en) * 2013-01-04 2016-04-15 Parrot ROTARY SAILING DRONE COMPRISING MEANS FOR AUTONOMOUS POSITION DETERMINATION IN AN ABSOLUTE FLOOR - RELATED MARK.
US10114384B2 (en) 2016-09-13 2018-10-30 Arrowonics Technologies Ltd. Formation flight path coordination of unmanned aerial vehicles
US11314245B2 (en) 2016-11-13 2022-04-26 Intel Corporation Aerial display morphing
EP3352041A1 (en) 2017-01-20 2018-07-25 Ars Electronica Linz GmbH & Co KG System for providing a visual aerial presentation
CN108153327B (en) 2017-12-07 2020-05-19 浙江大学 Four-rotor aircraft outdoor formation light performance system and control method
CN108170159A (en) 2017-12-20 2018-06-15 江苏数字鹰科技股份有限公司 The method of the aerial display pattern of unmanned plane and video
US10534068B2 (en) * 2018-12-27 2020-01-14 Intel Corporation Localization system, vehicle control system, and methods thereof

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FR3100895A1 (en) 2021-03-19
WO2021048500A1 (en) 2021-03-18

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