FR3107361B1 - Take-off, navigation and landing support system for unmanned aerial vehicles - Google Patents

Take-off, navigation and landing support system for unmanned aerial vehicles Download PDF

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Publication number
FR3107361B1
FR3107361B1 FR2101579A FR2101579A FR3107361B1 FR 3107361 B1 FR3107361 B1 FR 3107361B1 FR 2101579 A FR2101579 A FR 2101579A FR 2101579 A FR2101579 A FR 2101579A FR 3107361 B1 FR3107361 B1 FR 3107361B1
Authority
FR
France
Prior art keywords
unmanned aerial
aerial vehicle
navigation
support system
take
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR2101579A
Other languages
English (en)
Other versions
FR3107361A1 (fr
Inventor
Dünya Rauf Levent Güner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aselsan Elektronik Sanayi ve Ticaret AS
Original Assignee
Aselsan Elektronik Sanayi ve Ticaret AS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication of FR3107361A1 publication Critical patent/FR3107361A1/fr
Application granted granted Critical
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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • 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
    • G01S19/49—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 inertial position system, e.g. loosely-coupled
    • 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
    • G01S19/51—Relative positioning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

SYSTEME DE PRISE EN CHARGE DE DECOLLAGE, DE NAVIGATION ET D’ATTERRISSAGE POUR DES VEHICULES AERIENS SANS PILOTE L’invention concerne un système de prise en charge de localisation qui peut être utilisé pendant les phases de décollage, de navigation et d’atterrissage de véhicules aériens sans pilote (1) dans des environnements dans lesquels des signaux GNSS sont brouillés/indisponibles. À cet effet, il y a des prismes (2) fixés sur le véhicule aérien sans pilote (1), aptes à réaliser une réflexion rétro-réfléchissante à 360 degrés, fixés les uns aux autres à un angle de 45 degrés. Le théodolite, qui fait partie du système de mesure d’azimut et de position (3), vise optiquement des prismes (2) sur le véhicule aérien sans pilote (1) et suit le véhicule aérien sans pilote (1), et mesure instantanément sa distance par rapport au véhicule aérien sans pilote (1) et l’envoie au processeur conjointement avec les angles d’azimut et d’élévation de la ligne de visée par rapport à son axe. Le processeur calcule la position absolue du véhicule aérien sans pilote (1) à l’aide de données provenant du théodolite et d’un système de navigation inertielle. Les informations de position calculées sont envoyées instantanément au véhicule aérien sans pilote (1) par le système de mesure d’azimut et de position (3). Figure à publier avec l’abrégé : Figure 4
FR2101579A 2020-02-19 2021-02-18 Take-off, navigation and landing support system for unmanned aerial vehicles Active FR3107361B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
TR2020/02499A TR202002499A2 (tr) 2020-02-19 2020-02-19 İnsansiz hava araçlari i̇çi̇n kalkiş, seyrüsefer ve i̇ni̇ş destek si̇stemi̇
TR2020/02499 2020-02-19

Publications (2)

Publication Number Publication Date
FR3107361A1 FR3107361A1 (fr) 2021-08-20
FR3107361B1 true FR3107361B1 (fr) 2023-02-10

Family

ID=76730616

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2101579A Active FR3107361B1 (fr) 2020-02-19 2021-02-18 Take-off, navigation and landing support system for unmanned aerial vehicles

Country Status (3)

Country Link
ES (1) ES2849625B2 (fr)
FR (1) FR3107361B1 (fr)
TR (1) TR202002499A2 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116202500B (zh) * 2023-05-06 2023-07-21 石家庄科林电力设计院有限公司 输电塔架桩基设计点位定位装置及方法

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100860771B1 (ko) * 2008-01-11 2008-09-30 한국유지관리 주식회사 지하 공간 및 차폐 구조물의 내부 공간정보 획득 시스템
US9758239B2 (en) 2011-04-14 2017-09-12 Hexagon Technology Center Gmbh System and method for controlling an unmanned air vehicle
EP2511781A1 (fr) * 2011-04-14 2012-10-17 Hexagon Technology Center GmbH Système et procédé de commande d'un aéronef sans pilote
EP2511658A1 (fr) * 2011-04-14 2012-10-17 Hexagon Technology Center GmbH Système de mesure et procédé de détermination de nouveau point
JP5882951B2 (ja) 2013-06-14 2016-03-09 株式会社トプコン 飛行体誘導システム及び飛行体誘導方法
KR101391764B1 (ko) * 2014-01-29 2014-05-07 국방과학연구소 관성항법장치와 토털스테이션 간의 축 일치 방법
EP3062066A1 (fr) * 2015-02-26 2016-08-31 Hexagon Technology Center GmbH Détermination de données d'objet à l'aide d'une commande UAV basée sur un modèle
WO2017026956A2 (fr) * 2015-08-13 2017-02-16 Aselsan Elektronik Sanayi Ve Ticaret Anonim Sirketi Dispositif d'arpentage d'artillerie
FR3040097B3 (fr) * 2015-08-14 2017-09-08 Aselsan Elektronik Sanayi Ve Ticaret Anonim Sirketi Instrument de topographie d'artillerie embarque base sur une technologie de navigation inertielle, avec un bras motorise
JP6693765B2 (ja) 2016-02-26 2020-05-13 株式会社トプコン 飛行体追尾方法及び飛行体誘導システム
JP6944790B2 (ja) * 2017-02-22 2021-10-06 株式会社トプコン 制御装置、光学装置、制御方法、無人航空機の追跡システムおよびプログラム
JP6508320B1 (ja) 2017-12-28 2019-05-08 Ｄ−Ｐｌａｎ株式会社 無人航空機の制御システム

Also Published As

Publication number Publication date
ES2849625B2 (es) 2022-09-27
FR3107361A1 (fr) 2021-08-20
TR202002499A2 (tr) 2021-08-23
ES2849625A1 (es) 2021-08-19

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