TR202002499A2 - Take-off, Navigation and Landing Support System for UNMANNED VEHICLES - Google Patents

Abstract

The invention relates to a position finding support system that can be used in the take-off, navigation and landing stages of unmanned aerial vehicles (1) in environments where GNSS signals are mixed or not. For this purpose, prisms (2) that can make 360-degree retro-reflective reflection and are fixed at an angle of 45 degrees to each other are placed on the unmanned aerial vehicle (1). The theodolite (7), which is a part of the ground measuring system (3), follows the unmanned aerial vehicle (1) by optically aiming at the prisms (2) on the unmanned aerial vehicle (1) and instantly measures the distance between it and the unmanned aerial vehicle (1). It sends it to the processor along with the side and elevation angles of the line according to its axis. The processor also calculates the absolute position of the unmanned aerial vehicle (1) using the data from the theodolite (7) and the inertial navigation system (8). The calculated location information is instantly sent to the unmanned aerial vehicle (1) by the ground measuring system (3).

Description

DESCRIPTION DEPARTURE, NAVIGATION AND LANDING SUPPORT for UNMANNED AERIES Technical Area In the environments where the invention GNSS signals are mixed or not, take-off, navigation and landing It is about a locating support system that can be used in stages.

State of the Art Small-class UAV systems contain inertial navigation. Due to the low sensitivity of its sensors, GNSS=e (Global Navigation Satellite System / Global Positioning System) has dependent navigation architectures. GNSS When the signals are mixed, this type of systems cannot take off. in flight systems also lose or decrease their navigation accuracy.

Increasing the sensitivity of the inertial sensors used, unit per aircraft increases costs and the system becomes more expensive, which will be incurred in the event of a crash. lead to increased costs. Navigation of such slow-flying systems with various sensors and methods There are studies to increase their sensitivity.

Image-based systems and position support systems that leverage altitude data Although available, the desired location accuracy of GNSS systems small class UAV systems that can protect for long periods of time when mixed does not exist.

Image-based, pattern recognition systems are available for precise landing. However, this the vertical range of the systems is short. 3D stereo cameras etc. last 10- It can work sensitively within its meter.

When the GNSS signals are mixed, there is no position information in the aircraft. cannot be done or it is done risky. Laser altimeter on some systems altitude information is detected with a blend of barometric altimeter and GNSS. is being done. When GNSS is mixed in such a system, the ground clearance of the aircraft information can also be unreliable.

Some of the link systems are directional with RF tracking and conical scanning patterns. Although there are antenna systems, usually the antenna and the aircraft are from the GNSS position. He takes advantage of the aircraft and looks at it. When the GNSS signal is lost, the ground station Although the coordinates of the aircraft exist because they are previously known coordinates, the aircraft coordinates become invalid in a short time and the ground antenna group will overtake the aircraft. follow-up ability is decreasing or dropping out of follow-up.

In the state of the art, GNSS signals are used in small class UAV systems. Many solutions have been offered for navigating in mixed/unmixed environments: . Land assisted navigation systems need radar altimeter data however, radar altimeters are small multi-rotor systems due to their size and cost. cannot be used in systems. o Laser altimeter systems do not always provide reliable altitude data.

. Image-based systems have previously been attached to aircraft or ground control systems. distinguishing location information-processed terrain photographs uploaded to the based on trying to locate the aircraft by locking in its features. is based on. In this type of systems, additional cameras should be integrated into the aircraft. required. Under the different weather conditions of the landscape seen Although it can be defined and the extraction of points of interest provides location support, it has a high Precise positioning is not always possible.

. Optical flux-based speed support systems are used as visual odometry systems. Although they reduce the rate of increase in navigation system errors over time, location They cannot prevent the decrease in sensitivity over time.

- In case the aircraft is tracked by a radar-based system a longer range position information can be obtained. However, radar-based systems locations can also be detected and costs are high.

In the patent application number EP2818958A3, Retro- link to the reflective prism by measuring distance with a robotic total station (theodolite) transfer of position information over the In the absence of a GPS signal (tunnel, etc.) it means providing the opportunity to fly. is being done. This patent application is related to distance measurement and aircraft tracking. Although the sections are the same in method, the ground station is used as a location source. known point or GPS is suggested. In this sense, with the inertial navigation system, using a geometering system using an integrated robotic theodolite, No need for GNSS systems as a location source and absolute location and By providing the heading angle information from the inertial navigation system, other differs from inventions. point or GPS itself used but positioning device nature No information has been given about it, and it is not clear how it determined its location. of the GPS signal A statement of how the position will be found at the ground station for the case when the aircraft is not present. has not been made. GPS or manual entry or other locator It has been stated that it can be used, but what this device can be and how GPS can be used. It is not clear whether it can function in the environment where the signals are mixed. Said The document has a property other than transmitting position information based on distance measurement. It has similar content to the above patent and has similar problems. Position and heading angle in cases where GPS* is confused in the area It is not clear how to make measurements or a previously measured point can be used. However, under GPS interference, a previously undetermined These methods are used in case of transfer to the position and in case of flight operation from this position. they cannot operate over absolute (real) location. In this case, the aircraft with an electro-optical payload by the aircraft since its absolute position is not known. measurements and transmission of target positions are not possible.

As a result, due to the above-mentioned negativities and existing solutions It is necessary to make an improvement in the relevant technical field due to the inadequacy of the seen r.

Purpose of the Invention The aim of the invention is to use global positioning systems (GNSS) In environments and situations where it cannot be used, mini and small vertical lift multi-rotor or takeoff, cruise and landing flight of helicopter type unmanned aerial vehicles (UAV) the relative or absolute position of the drone at high It is to ensure that it continues the flight / mission by calculating it with precision.

Compared to most other support systems, the invention is the first flight in all flight situations. second to last moment and “ground station coordinate precision + It has an absolute position finding feature with a maximum sensitivity of +1-10 cm. Also +i'-1O It can give relative position and altitude information with cm sensitivity.

The invention is intended for small-class UAVs with vertical take-off and landing of the multi-rotor or helicopter type. a 360 degree retro-reflective prism mounted on the prism and a robotic theodolite and robotic instrument that measures side, elevation and distance by locking equipped with theodolite and an additional integrated inertial measurement system RF or RF or absolute position information calculated by the geometering system It is fed to the UHA link system with a cable system and airborne through the UHA link system. It is based on sending to the vehicle. Thus, GNSS signals during the mission even when there is no With the obtained location information, precise take-off, navigation and landing are provided. As such, GNSS ground station coordinates have already been determined, even in the absence of RTK (Real-Time Kinematic / Real-Time Kinematic) GNSS as precise positioning as possible.

By measuring the distance to the prism by robotic theodolite (total station) systems, There are studies that provide location finding. However, in these studies station's location is either obtained from GPS or a known point and bearing It has to be positioned on the line. The invention is inertial navigation. The line of sight of the robotic theodolite working integrated with the system is made directly with the north. It gives the heading angle and the distance measurement and the world of the unmanned aerial vehicle. It can calculate its real position instantaneously and continuously with respect to the plane.

The inertial measurement unit can be delivered in working condition with an integrated power supply. and mounting the robotic theodolite at the place where it is installed and making data connections The coordinates of the current point and the direction angle of the line viewed are continuous and instantaneous. A measurement station is created where it can be calculated as Measuring an integral location GPS or known GPS system in the task of following the aircraft. It is different from other inventions with the feature that it does not need external supports such as a point. is separating. This invention also applies to wireline multi-rotor surveillance systems. It also allows precise take-off and landing.

Contrary to the above-mentioned applications, in the invention, with the inertial navigation system integrated and transferred to the desired region in working condition under GPS interference. A portable geometering system is used. Thus, the ground station will always have absolute position and precise heading angle information and Absolute location (geographic location) in all phases from calcification to descent will be able to operate with

From the robotic theodolite system integrated with the inertial navigation system at the ground station In case of using artillery ground measuring device, previously The artillery ground measurement system, which was transferred to an unbuilt point in working condition, has three legs. is built on. Position, roll, pitch and true north Ground measuring system that continuously and automatically calculates the direction angle made, by measuring the distance of the aircraft by working integrated with the robotic theodolite. continuous calculation of the vehicle's absolute coordinates with respect to the earth. it provides.

With the use of robotic theodolite with rangefinder, all tracking and distance measurement processes can be performed optically. Because it is made with a very narrow beam, RF mixing systems or other It is not possible to detect and mix by systems.

Distance measurement to the prism by the robotic, distance-measuring theodolite to the absolute position by making use of the coordinates and direction of the station. absolute position information relative to the world. can be transferred. Since the tracking of the aircraft is done entirely on optical basis, There is no need for any radar-based RF tracking system. Also optical based distance The measuring system is not affected by RF jammers, and it is actually very difficult to mix optically. The system that is the subject of the invention is based on the cabled multi-rotor UAV-based continuous surveillance systems. Precise take-off, precise landing and precise positioning activities in static missions can also be realized. From the first take off of image-based systems location support is not available. Systems with RTK are used as sensitivity. Although it looks similar, it does not work under GNSS interference.

The structural and characteristic features and all advantages of the invention are given in the following figures and It is clearer thanks to the detailed explanation written by making references to these figures. will be understood as

Description of Figures Figure 1, a multi-rotor unmanned aerial vehicle and its 360-degree retro-reflective shows the prism.

Figure 2, geometering consisting of an inertial navigation system and an integrated robotic theodolite shows the system.

Figure 3 is shown by the geometering system, which knows its position and orientation in the inventive system. The absolute position information calculated by measuring the distance to the IHA is transmitted via the RF data link. It shows the IHAiya transmission.

Figure 4 is a geometering system that knows its own position and orientation in the subject system. The departure point calculated by measuring the distance to the UAV and the aircraft absolute The transfer of location information to the UAV over the 'wired connection' is shown. Drawings do not necessarily need to be scaled and to understand the present invention Unnecessary details may be omitted.

Description of Part References Unmanned aerial vehicle Prism ground measuring system Mechanical interface Theodolite 39591993!“9 8. Inertial navigation system 9. Paralleling apparatus . ground control station 11. Wired connection 12. Takeoff/landing point Detailed Description of the Invention In this detailed description, preferred embodiments of the invention are merely better suited to the subject. for understanding and without any limiting effect is explained.

In order for the system to work, multi-rotor (drone) or helicopter type unmanned aerial vehicles The tool (1) rotates 360 degrees horizontally and a wide angle range vertically in the direction of the beam (retro- with reflective prisms (2) fixed at an angle of 45 degrees to each other. is equipped. The unmanned aerial vehicle (1) has its own autopilot system and communication It has module. The unmanned aerial vehicle (1) is preferably capable of vertical take-off and landing. A wired surveillance system or a reconnaissance system that requires precise take-off and landing. It is part of the purpose-built UAV system.

The ground measuring system (3) can be carried in a backpack in working condition when necessary, It follows the unmanned aerial vehicle (1), which can be installed on three legs (4) when necessary. It is a static system. Its components are one inertial navigation system (8), a plate (5) on which the inertial navigation system (8) is mounted, the plate (5) mechanical interface (6) on its upper surface, attached to the mechanical interface (6) from the top, target tracking Robotic theodolite (7) with motorized axis and distance measuring capability, processor / It consists of computer, power supply and tripod (4). Theodolite (7) and inertial reference axes of the navigation system (8) is a direction set at the factory level. It is pre-calibrated with a match measurement.

When the geotagging system (3) is initialized at a known location or initialized from GNSS When it is received, it starts to create a navigation solution and can be fixed or mobile. It provides location, orientation, speed and angle information. Location measurement in the system the processor of the system (3), the position from the inertial navigation system (8), roll, pitch, and heading (angle relative to north) angles and robotic theodolite (7) shows the lateral and elevation angles of the line of sight relative to its axis set. by blending the angle of the view line of the theodolite (7) with the north and with respect to the earth. It automatically calculates the elevation angle. Thus, the ground measuring system (3) the angular line of sight of the theodolite (7) without the need to be fully paralleled to the ground. and the location information of the earth measuring system (3) are calculated continuously.

The ground measuring system (3) can be carried in working condition and the unmanned aerial vehicle (1) takes off. installed near the field. Theodolite (7) is attached to the ground measuring system (3) and electrical and signal connections are made. On the unmanned aerial vehicle (1) by the operator The prism (2) is optically aimed with the theodolite (7). Then theodolite (7) is automatic. switches to target tracking mode. In automatic target tracking, theodolite (7) is continuous to the prism (2). It measures the distance and in case the prism (2) moves, it measures the prism (2). distance measurement follows using phase shift and Optical methods. Theodolite (7) The distance measured by the lateral and elevation of the theodolite (7) relative to its axle It is sent to the geometer (3) processor along with its angles. inertial navigation position, roll, pitch, and angle with respect to true north The absolute position of the unmanned aerial vehicle (1) is calculated by blending it with the information.

This calculated position is transmitted to the unmanned aerial vehicle (1) via cable or RF signals. it is sent to the ground control station (10). The ground control station (10) receives this position information. to the drone (1) over RF or wired for a wired surveillance system sends it over connection (11). Takeoff command to the unmanned aerial vehicle (1) ground control When sent by the station (10), the ground measuring system (3), robotic, motorized in the aircraft by means of the optical theodolite (7) with movable axis, rangefinder. continuously measures the position of the unmanned aerial vehicle (1) by following the prism (2) and to the drone (1) via wired connection (11) or wirelessly sends it to the ground control station (10) to be sent.

In the system, the location and direction angle of the ground control station (10) can be calculated in various ways. Absolute position and Heading angle information relative to true north is provided by the inertial navigation system (8). It is calculated automatically and continuously.

One use of the system is the power, which is part of the wired multi-rotor surveillance system. and sensitive of a surveillance system that makes data communication from the wired connection (11). to meet takeoff, hover and precision landing needs. Wired multi-rotor coordinates of the take-off/landing runway (12) of the drone (1) of the surveillance system by aiming at the unmanned aerial vehicle (1) on the runway by the operator After being found, the theodolite (7) is put into automatic tracking mode and sent to the unmanned aerial vehicle. (1) relative position relative to the initial position obtained by measuring distance continuously information (relative position) via ground control station (10) again via wired connection (11) It is transferred to the unmanned aerial vehicle (1) via

Another usage area of the system is that GNSS signals cannot be used. in situations that protect critical facilities, such as naval bases, within a limited radius of operation. precise measurement of the position of unmanned sea vehicles from land and is the transfer.

In a preferred embodiment of the invention, distance measurement is for example 1550 nm waveform. It can also be done with an eye-safe laser rangefinder. In this case the distance measurement range increases.

In a preferred embodiment of the invention, the distance measuring laser is also It can also be used for communication and data transfer. In this case, the ground measuring system The location information found based on the distance measured by (3), other link data and UHA images can be transmitted over the laser beam. In such a case the system is completely independent of RF interference.

Claims (4)

REQUESTS 1. It is a position finding support system that enables unmanned aerial vehicles (1) to take off, navigate and land without using a global positioning system; o prisms fixed on the drone (1), capable of 360-degree retro-reflective reflection, fixed at an angle of 45 degrees to each other (2), which determine the position of its location, roll angle with respect to the earth, pitch and angle with respect to true north, and send it to the processor The inertial navigation system (8) is connected to the upper part of the inertial navigation system (8) via a mechanical interface (6), which enables optical aiming of the prisms (2) on the unmanned aerial vehicle (1) and follows the unmanned aerial vehicle (1). the unmanned aerial vehicle using the data coming from the motorized axis theodolite (7), the theodolite (7) and the inertial navigation system (8), which instantly measures the distance between the unmanned aerial vehicle (1) and sends it to the processor along with the lateral and elevation angles of the line of sight according to its axis. it contains the processor that calculates the absolute position of the vehicle (1) and instantly includes the calculated position information to the unmanned aerial vehicle (1). 2. It is a system according to claim 1 and its feature is; the ground control station (10) that transmits the location information transmitted by the ground measurement system (3) to the unmanned aerial vehicle (1), either wired or wirelessly. 3. It is a system according to claim 1 and its feature is; It contains a laser distance meter located in the ground measuring system (3), which focuses on the unmanned aerial vehicle (1), calculates the distance between them and transfers the position information determined by the processor to the unmanned aerial vehicle (1). 4. It is a system in accordance with claim 1 and its feature is; It includes the said processor, which determines the position from which the unmanned aerial vehicle (1) takes off with the distance information it receives from the theodolite (7), and calculates the relative position of the unmanned aerial vehicle (1) according to the point from which it takes off during navigation. It is a system suitable for the request and its feature is; the geometering system (3) includes a plate (5) on which the inertial navigation system (8) is mounted and the mechanical interface (6) is connected to its upper surface.