TWM645329U - Miniature Radio Wave Positioning Device - Google Patents

Abstract

The novel miniature radio wave positioning device includes a radio wave transmitting unit and a radio wave receiving unit arranged on a drone; the radio wave transmitting unit includes a plurality of directional transmitting antennas provided on a transmitter holder, and these directional transmitting antennas are The transmitting antennas are electrically connected to a radio wave generator respectively, and generate a radio wave signal at a frequency higher than 1 Hz respectively; the radio wave receiving unit includes a receiving antenna provided on the drone and a receiving antenna electrically connected to the receiving antenna. Processor; the processor receives the radio wave signals emitted by the directional transmitting antennas through the receiving antenna, and calculates a signal strength of each of the radio wave signals to generate a received signal strength based on the signal strengths. A certain positioning information indicated (RSSI) to achieve self-positioning to facilitate more accurate drone navigation.

Description

Micro radio wave positioning device

A positioning device, especially a miniature radio wave positioning device.

In the technical field of drones, how to position drones is a major technical issue. Traditionally, most drones on the market are not autonomous, but still require visual positioning by a user, such as manually positioning the drone visually or by watching the images returned by the drone. . This positioning method not only consumes human resources, but also causes errors in the positioning of the drone when the user loses direction, making it impossible for the drone to correctly position and navigate back to the user.

In addition, some drones on the market rely on Global Positioning System (GPS) technology for positioning and navigation. However, the update rate of GPS is 1 Hertz (Hertz; Hz), so the GPS positioning method can only perform positioning once per second, which makes it impossible for the drone to obtain positioning and adjust the flight course more quickly when being navigated. , and forces the drone's flight speed to be unable to be further improved.

In order to solve the above problems, the present invention provides a miniature radio wave positioning device. This miniature radio wave positioning device can provide reliable radio wave signals to the drone, and the drone can achieve self-positioning by receiving this radio wave signal. In this way, when the drone is navigated, it can adjust its course at a faster positioning update speed, which improves the agility of the drone's self-flying and also allows the drone's flight speed to be further improved due to the more agile navigation. promote.

The miniature radio wave positioning device of the present invention includes: a radio wave transmitting unit, including: a transmitter holder; A plurality of directional transmitting antennas are respectively provided on the transmitter fixed base; a plurality of radio wave generators are electrically connected to one of the directional transmitting antennas respectively, and generate a radio wave signal respectively, and transmit the radio wave signal through the directional transmitting antennas respectively. Some radio wave signals; wherein the directions of emission of each of the radio wave signals are different from each other, and the radio wave generators generate a transmission frequency of the radio wave signals higher than 1 Hertz (Hertz; Hz); a radio wave receiving unit is provided at An unmanned aerial vehicle includes: a receiving antenna to be installed on the unmanned aerial vehicle; a processor electrically connected to the receiving antenna and receiving the radio wave signals emitted by the directional transmitting antennas through the receiving antenna ; Wherein, the processor calculates a signal strength of each of the radio wave signals, and the processor generates a positioning information based on the signal strengths; wherein the signal strength is a received signal strength indication (RSSI) ).

In the present invention, the transmitter fixing base is fixed on a plane, and the directional transmitting antennas on the transmitter fixing base emit the radio wave signals. Because the directions of the radio wave signals emitted by the directional transmitting antennas are different from each other, the signal intensity of each radio wave signal received by the radio wave receiving unit on the drone at any position in the air will naturally have a different intensity. s difference. The processor can obtain the positioning information of the drone based on the difference in signal strength.

In this way, the miniature radio wave positioning device of the present invention can realize self-positioning automatically. When a drone is guided, of course, the drone has the ability to be navigated to a location after being positioned. For example, a user waits at a signal transmitting point where the radio wave transmitting unit transmits the radio wave signals, and after the processor locates the drone, the processor provides the positioning information to the host of the drone to facilitate The UAV moves in a direction where the signal strength of the signal pair is weak to navigate the UAV to the signal transmitting location. In other words, this new model allows the drone to automatically Different navigation of the drone to the signal transmitting point. Moreover, this new model emits these radio wave signals at a frequency higher than 1Hz, which helps the UAV position and adjust its course more quickly, improves the agility of the UAV's self-flying, and also allows the UAV's flight speed to be adjusted accordingly. Navigation has been further improved by being more agile.

10:First plane

11: Center point of the first plane

100: Radio wave transmitting unit

110: Transmitter holder

111:Center point

112: Inclined fixing hole

113:Protective cover

114:Antenna protective case

114A, 114B: Shell

114C: Stop Beam

115:Surface

120: Directional transmitting antenna

120D: Emission normal direction

121: First directional transmitting antenna

121D: First launch direction

121S: The first radio signal

122: Second directional transmitting antenna

122D: Second emission direction

122S: Second radio wave signal

123:Third directional transmitting antenna

123D: The third launch direction

123S: The third radio wave signal

124: The fourth directional transmitting antenna

124D: The fourth launch direction

124S: The fourth radio wave signal

131:The first radio wave generator

132: Second radio wave generator

133: The third radio wave generator

134: The fourth radio wave generator

200: Radio wave receiving unit

210: Receiving antenna

220: Processor

230:GPS antenna unit

230S:GPS signal

300: Drone

310:Circuit board

D1: first direction

D2: second direction

D3: Third direction

D4: The fourth direction

E:Eastern

N:North

S:South

W:Western

Z: Height direction

Figure 1 is a schematic diagram of a new type of miniature radio wave positioning device.

Figure 2 is a system block diagram of the new type of miniature radio wave positioning device.

Figure 3 is a schematic diagram of a radio wave transmitting unit of the new type of miniature radio wave positioning device.

Figure 4 is a cross-sectional view of a radio wave transmitting unit of the novel miniature radio wave positioning device.

Figure 5 is an assembly diagram of the radio wave transmitting unit of the new type of miniature radio wave positioning device.

Figure 6 is a schematic diagram of the direction of the radio wave emitted by the miniature radio wave positioning device of the present invention.

Figure 7A is a schematic top view of the direction of the radio waves emitted by the miniature radio wave positioning device of the present invention.

Figure 7B is a schematic side view of the direction of the radio wave emitted by the miniature radio wave positioning device of the present invention.

Figure 7C is another schematic side view of the direction of the radio wave emitted by the miniature radio wave positioning device of the present invention.

Figure 8 is a schematic diagram of a radio wave receiving unit of the new miniature radio wave positioning device.

Please refer to Figures 1 and 2. This new model is a miniature radio wave positioning device. The miniature radio wave positioning device includes a radio wave transmitting unit 100 and a radio wave receiving unit 200 . The radio wave transmitting unit 100 is disposed on a plane, and the radio wave receiving unit 200 is disposed on a drone 300 . The drone 300 can be any drone on the market, and the drone 300 has the power structure and functions of a common drone on the market.

The radio wave transmitting unit 100 of the present invention includes a transmitter fixing base 110, a plurality of directional transmitting antennas 120 and a plurality of radio wave generators. The transmitter holder 110 is fixed on the plane, and the fingers The directional transmitting antennas 120 are respectively disposed on the transmitter holder 110, and the radio wave generators are electrically connected to one of the directional transmitting antennas 120, and generate a radio wave signal respectively, and pass through the directional transmitting antennas respectively. 120 transmits these radio wave signals. In other words, the directional transmitting antennas 120 and the radio wave generators have a one-to-one electrical connection relationship. In addition, the radio wave signals are emitted in different directions, and the radio wave generators generate a transmission frequency of the radio wave signals higher than 1 Hertz (Hz).

The radio wave receiving unit 200 of the present invention includes a receiving antenna 210 and a processor 220. The receiving antenna 210 is disposed on the drone 300 along with the entire radio wave receiving unit 200, and the receiving antenna is electrically connected to the processor 220. The processor 220 receives the radio wave signals emitted by the directional transmitting antennas 120 through the receiving antenna 210 . The processor 220 calculates a signal strength of each of the radio wave signals, and the processor 220 generates positioning information based on the signal strengths, and the signal strength is a received signal strength indication (RSSI). When the RSSI is larger, that is, when the signal strength of one of the radio wave signals is stronger, it means that the UAV 300 is closer to the antenna axis of one of the directional transmitting antennas 120 that transmits the radio wave signal. On the contrary, when the RSSI is smaller, that is, when the signal strength of one of the radio wave signals is weaker, it means that the UAV 300 is farther away from the antenna axis of one of the directional transmitting antennas 120 that transmits the radio wave signal. For the radio wave signals generated by the directional transmitting antennas 120 of the radio wave transmitting unit 100, assuming that the electromagnetic waves do not touch obstacles in free space, the intensity of the signal power will decrease in inverse proportion to the square of the distance. Therefore, when the processor 220 obtains the RSSI, it can back-calculate the distance between the drone 300 and the radio wave transmitting unit 100 according to the logarithmic scale (logarithmic scale; log), and calculate the distance between the drone 300 and the pointing direction. The angle formed between the antenna axes of the linear transmitting antenna 120.

Furthermore, in the present invention, the directional transmitting antennas 120 on the transmitter holder 110 emit the radio wave signals. Because the directions of the radio wave signals emitted by the directional transmitting antennas 120 are different from each other, the signal strength of each radio wave signal received by the radio wave receiving unit on the drone 300 at any position in the air will naturally vary. Difference in intensity. The processor 220 can then Depending on the signal strength, the positioning information of the UAV 300 is obtained through RSSI, and in more detail, the positioning information contains information about the direction the UAV 300 is facing, that is, the pointing information of the UAV 300 .

In this way, the miniature radio wave positioning device of the present invention can realize self-positioning automatically. When the UAV 300 is navigated, of course, the UAV 300 has the ability to be navigated to a location after being positioned. For example, a user waits at a signal transmitting point where the radio wave transmitting unit 100 transmits the radio wave signals, and after the processor 220 locates the UAV 300, the processor 220 provides the host of the UAV 300 with the Positioning information is used to facilitate the UAV 300 to move in a direction with weaker signal strength of the signal pair to navigate the UAV 300 to the signal transmitting location. In other words, the present invention enables the drone 300 to automatically navigate the drone 300 to the signal transmitting location based on the differences in received signal strengths. Moreover, the present invention emits these radio wave signals at a frequency higher than 1 Hz, which facilitates the UAV 300 to position and adjust its course more quickly, improves the agility of the UAV 300 in self-flying, and also enables the UAV 300 to The flight speed can be further improved due to more agile navigation.

In one embodiment of the present invention, the UAV 300 equipped with the miniature radio wave positioning device of the present invention is a four-axis UAV, and the radio wave receiving unit 200 of the present invention is disposed on the belly of the four-axis UAV. , sensing radio waves toward the bottom of the aircraft belly. Preferably, the radio wave receiving unit 200 is protected by a shell on the belly of the drone 300 . In other embodiments, the radio wave receiving unit 200 of the present invention can also be installed on other types of drones.

As shown in Figures 1, 2 and 6, in this embodiment, the directional transmitting antennas 120 of the radio wave transmitting unit 100 include a first directional transmitting antenna 121 and a second directional transmitting antenna 122 , a third directional transmitting antenna 123 and a fourth directional transmitting antenna 124, and a corresponding first radio wave generator 131, a second radio wave generator 132, a third radio wave generator 133 and a fourth radio wave Generator 134. The first radio wave generator 131 is electrically connected to the first directional transmitting antenna 121 to generate a first radio wave signal through the first directional transmitting antenna 121 toward a first transmitting direction 121D. The second radio wave generator 132 is electrically connected to the second directional transmitting antenna 122 to facilitate transmitting electricity through the second directional transmitter. The radio antenna 122 generates a second radio wave signal in a second transmission direction 122D. The third radio wave generator 133 is electrically connected to the third directional transmitting antenna 123 to generate a third radio wave signal in a third transmitting direction 123D through the third directional transmitting antenna 123. The fourth radio wave generator 134 is electrically connected to the fourth directional transmitting antenna 124 to generate a fourth radio wave signal in a fourth transmitting direction 124D through the fourth directional transmitting antenna 124. The first emission direction 121D, the second emission direction 122D, the third emission direction 123D and the fourth emission direction 124D are different from each other. The aforementioned so-called signal pair means that the first radio wave signal generated by the first directional transmitting antenna 121 and the third radio wave signal generated by the third directional transmitting antenna 123 are a signal pair, or The second radio wave signal generated by the second directional transmitting antenna 122 and the fourth radio wave signal generated by the fourth directional transmitting antenna 124 are a signal pair. As mentioned above, moving the UAV 300 in the direction with weaker signal strength of the signal pair to navigate the UAV 300 to the signal transmitting point means moving the UAV 300 toward the center of the two sets of radio beams.

The processor 220 receives the first radio wave signal from the receiving antenna 210 to calculate a first signal strength, receives the second radio wave signal to calculate a second signal strength, and receives the third radio wave signal to calculate a third signal strength. and receiving the fourth radio wave signal to calculate a fourth signal strength. The processor 220 generates a total of 4 bytes of positioning information according to the first signal strength, the second signal strength, the third signal strength and the fourth signal strength, and the processor 220 The 4-byte positioning information can be further output to the drone 300, so that the drone 300 can move more accurately after knowing its own position.

Please refer to FIGS. 3 and 4 together. The first directional transmitting antenna 121 , the second directional transmitting antenna 122 , the third directional transmitting antenna 123 and the fourth directional transmitting antenna 124 are all one. Yagi antenna. In other embodiments, the directional transmitting antennas 120 may also be a horn antenna or a helical antenna with strong directivity, for example, a directional antenna with a signal gain of more than 20 decibels (dB). Moreover, the radio wave signals generated by the directional transmitting antennas 120 are all in the ISM frequency band. (Industrial Scientific Medical Band) radio waves, so you don’t need to apply for a special radio license to use it, which is very convenient. Moreover, among the ISM frequency bands common to various countries, radio waves in the 2.4GHz or 5.8GHz band are the most widely used. Therefore, in this embodiment, the radio wave signals generated by the directional transmitting antennas 120 are all 2.4 GHz or radio waves in the 5.8GHz band.

The first radio wave generator 131, the second radio wave generator 132, the third radio wave generator 133 and the fourth radio wave generator 134 are respectively disposed on the first directional transmitting antenna 121, the second directional transmitting antenna 121 and the second directional transmitting antenna 121. The bottom layer of the antenna 122 , the third directional transmitting antenna 123 and the fourth directional transmitting antenna 124 . In this embodiment, the radio wave generators are installed in an Internet of Things (IoT) chip using a wireless local area network (WLAN) for receiving WLAN signals and synchronously generating the radio wave signals. In other embodiments, the radio wave generators are installed in an IoT chip using Wireless Fidelity (Wi-Fi), Bluetooth, Bluetooth Low Energy (BLE) or ZigBee. , in order to receive signals corresponding to the communication protocol and simultaneously generate these radio wave signals. The IoT chips installed in these radio wave generators, taking BLE or ZigBee as examples, occupy a cubic volume of about 30 centimeters (cm) x 30 centimeters (cm) x 50 centimeters (cm), so they can be installed in extremely small volumes. inside the radio wave transmitting unit 100.

Compared with the signal transmission distance of about 100 meters when using the Bluetooth band, this new model can transmit IoT chips with limited power to 500 to 1000 meters (m) by using these high-gain directional transmitting antennas 120 distance to facilitate positioning of the UAV 300 within 500~1000m.

Please also refer to FIG. 5 . The transmitter holder 110 is in a cross shape, and the cross shape has a center point 111 . The transmitter mounting base 110 has a surface 115, and a plurality of inclined fixing holes 112 are provided on the surface 115, and the directional transmitting antennas 120 are disposed in the inclined fixing holes 112. In other words, the first directional transmitting antenna 121, the second directional transmitting antenna 122, the third directional transmitting antenna 123 and the fourth directional transmitting antenna 124 are all disposed in the inclined fixing holes on the surface 115. 112 in.

The radio wave transmitting unit 100 further includes a protective cover 113 and a plurality of antenna protective shells 114, and the antenna protective shells 114 respectively cover the directional transmitting antennas 120 and are arranged in the inclined fixing holes 112. Moreover, each of the antenna protective shells 114 includes a plurality of shells 114A and 114B, and the shells 114A and 114B are detachably assembled to form each of the antenna protective shells 114. The protective cover 113 covers the transmitter fixing base 110, the directional transmitting antennas 120 and the antenna protective shells 114 to completely protect the radio wave transmitting unit from being eroded by the sun, wind and rain. In this embodiment, the antenna protective shells 114 are in a cylindrical shape to protect the directional transmitting antennas 120 that are Yagi antennas. Most of the ends of the cylindrical structures of the antenna protective shells 114 are hollow, so that the directional transmitting antennas 120 can emit the radio signals without obstruction. Each end of the tubular structure of the antenna protective shells 114 has a stop beam 114C, which is used to touch and fix the ends of the Yagi antennas when the antenna protective shells 114 are combined, so as to stabilize the Yagi antennas and prevent them from swinging. , affecting the quality of the emitted radio signals. The stop beam 114C and the transmitter mounting base 110 are both non-conductors, so they will not affect the electron oscillation paths in the directional transmitting antennas 120 . As mentioned above, due to the small size of the radio wave transmitting unit 100, the size of the protective cover 113 can also be small and does not occupy space. Therefore, the radio wave transmitting unit 100 of the present invention is convenient for the user to carry. The user can conveniently carry the radio wave transmitting unit 100 protected by the protective cover 113 to a place where he wants to send radio waves, and then fix it on the ground for installation.

The directional transmitting antennas 120 disposed in the inclined fixing holes 112. Specifically, the first directional transmitting antenna 121 and the third directional transmitting antenna 123 are disposed in the cross shape at the center point 111. The second directional transmitting antenna 122 and the fourth directional transmitting antenna 124 are disposed at the center point 111 in the inclined fixing holes 112 at the opposite ends of the cross shape. 112 in. In this embodiment, the first directional transmitting antenna 121, the second directional transmitting antenna 122, the third directional transmitting antenna 123 and the fourth directional transmitting antenna 124 are disposed together on the transmitter holder. 110, it is easy to deploy and maintain, which is beneficial to the user.

Please refer to FIG. 6 . As mentioned above, the first directional transmitting antenna 121 , the second directional transmitting antenna 122 , the third directional transmitting antenna 123 and the fourth directional transmitting antenna 124 respectively face the first directional transmitting antenna 121 . The emission direction 121D, the second emission direction 122D, the third emission direction 123D and the fourth emission direction 124D provide the radio wave signals. The first emission direction 121D, the second emission direction 122D, the third emission direction 123D and the fourth emission direction 124D all emit the first radio wave signal, the second radio wave signal and the third radio wave signal towards a first plane 10 radio wave signal and the fourth radio wave signal. The first plane 10 is parallel to the plane on which the transmitter holder 110 is fixed, and the first plane 10 is an imaginary first plane, which is only used for illustration. The first plane 10 is perpendicular to a height direction Z, and the height of the first plane 10 can be freely defined. Moreover, the first plane 10 is parallel to the surface 115 of the transmitter mounting base 110 .

When the radio wave signals are projected on the first plane 10, the first emission direction 121D corresponds to a first direction D1, the second emission direction 122D corresponds to a second direction D2, and the third emission direction 123D corresponds to a third direction. The direction D3 and the fourth emission direction 124D correspond to a fourth direction D4. The first direction D1 and the third direction D3 are located on the same axis, and the second direction D2 and the fourth direction D4 are located on the same axis, and the center point 111 of the cross is projected on the first plane 10 correspondingly. a first plane center point 11. In addition, the center point 111 of the cross shape is vertically projected to the first plane center point 11 of the first plane 10 in a emission normal direction 120D. Thus, in this embodiment, the included angle formed by the first emission direction 121D and the emission normal direction 120D is between 10 degrees and 30 degrees. Moreover, the angles formed by the first emission direction 121D, the second emission direction 122D, the third emission direction 123D and the fourth emission direction 124D and the emission normal direction 120D are the same as each other.

In this embodiment, the first direction D1 corresponds to the south S, the second direction D2 corresponds to the west W, the third direction D3 corresponds to the north N, and the fourth direction D4 corresponds to the east E. The center of east E west W south S north N is based on the first plane center point 11 on the first plane 10 . In other words, in this embodiment, the directional transmitting antennas 120 of the radio wave transmitting unit 100 correspond to the east The orientation of north-southwest is set on the ground, and in the sky perpendicular to the ground, the first plane 10 is the angle of view in the sky where the UAV 300 looks down at the ground and receives the radio waves. Moreover, the height direction Z is perpendicular to the plane of east E west W south S north N.

Referring to the schematic diagram of FIG. 7A , the receiving antenna 210 of the radio wave receiving unit 200 located on the belly of the UAV 300 will receive the first radio wave signal 121S, the second radio wave signal 122S, and the third radio wave signal. 123S and the fourth radio wave signal 124S. In the example shown in FIG. 7A , the first signal strength of the first radio wave signal 121S received by the receiving antenna 210 is the strongest (the signal in the south S is the strongest) is -20dB, and the strength of the second radio wave signal 122S is -20dB. The second signal strength is the same as the fourth signal strength of the fourth radio wave signal 124S and is the second strongest (the signals of West W and East E are the second strongest) at -30dB, while the third signal strength of the third radio wave signal 123S is the weakest. (The signal in the north N is the weakest) is -50dB. The 4-byte positioning information generated by the processor 220 is the signal strength returned by a total of 4 channels (the signal strength of N in the north, the signal strength of S in the south, the signal strength of E in the east, and the signal strength of W in the west). Therefore, in this embodiment, the positioning information of 4 bytes generated by the processor 220 corresponds to (-50, -20, -30, -30).

Please refer to FIG. 7B and FIG. 7C together. Specifically, the processor 220 receives the first radio wave signal 121S, the second radio wave signal 122S, the third radio wave signal 123S and the fourth radio wave signal 124S. Each signal is treated as a horizontal signal part and a vertical signal part. The horizontal signal part of each signal is used to locate which point the drone 300 is on the first plane 10 , and the vertical signal part of each signal is used to position where the drone 300 is relative to the radio wave transmitting unit 100 . at height. 7B and 7C illustrate a side view of the radio wave transmitting unit 100 emitting the first radio wave signal 121S, the second radio wave signal 122S, the third radio wave signal 123S and the fourth radio wave signal 124S.

When the processor 220 determines that the first signal strength is greater than the third signal strength according to the positioning information, the processor 220 determines that the drone 300 is located in the first transmitting direction 121D relative to the center point 111, and the third signal strength is determined by the processor 220. For a plane 10 , the processor 220 determines that the drone 300 is located in the first direction D1 on the first plane 10 relative to the first plane center point 11 . Conversely, when the processor 220 When it is determined based on the positioning information that the third signal strength is greater than the first signal strength, the processor 220 determines that the drone 300 is located in the third transmitting direction 123D relative to the center point 111, and with respect to the first plane 10 , the processor 220 determines that the drone 300 is located in the third direction D3 on the first plane 10 relative to the first plane center point 11 .

When the processor 220 determines that the second signal strength is greater than the fourth signal strength based on the positioning information, the processor 220 determines that the drone 300 is located in the second transmitting direction 122D relative to the center point 111, and the For a plane 10 , the processor 220 determines that the drone 300 is located in the second direction D2 relative to the first plane center point 11 on the first plane 10 . On the contrary, when the processor 220 determines that the fourth signal strength is greater than the second signal strength according to the positioning information, the processor 220 determines that the drone 300 is located in the fourth transmitting direction 124D relative to the center point 111, and For the first plane 10 , the processor 220 determines that the drone 300 is located in the fourth direction D4 on the first plane 10 relative to the first plane center point 11 .

When the processor 220 determines that the first signal strength, the second signal strength, the third signal strength and the fourth signal strength are equal to each other based on the positioning information, the processor determines that the drone 300 is relative to the center point 111 is located at a position where the first directional transmitting antenna 121 , the second directional transmitting antenna 122 , the third directional transmitting antenna 123 and the fourth directional transmitting antenna 124 are all equidistant from the center point 111 . From the perspective of the first plane 10 , the processor 220 determines that the drone 300 is located at the same position as the first plane center point 11 on the first plane 10 . As shown in the examples of FIG. 7A , FIG. 7B and FIG. 7C , when the processor 220 determines that the second signal strength of the second radio wave signal and the fourth signal strength of the fourth radio wave signal are the same based on the positioning information, The drone 300 is located on the north-south axis on the first plane 10 relative to the center point 11 of the first plane.

Please refer to FIG. 8 and FIG. 2 . The radio wave receiving unit 200 further includes a GPS antenna unit 230 . GPS is the Global Positioning System. The GPS antenna unit 230 is electrically connected to the processor 220, and the GPS antenna unit 230 is configured to receive a GPS signal 230S to generate a guided signal. Navigate to a GPS navigation information and a GPS positioning information of a destination coordinate, and output the GPS navigation information and the GPS positioning information to the processor 220 . The processor 220 corrects the GPS positioning information according to the positioning information, and outputs the GPS navigation information and the GPS positioning information to the drone 300 . The reason why the GPS positioning information needs to be corrected based on the positioning information is because the GPS system that the GPS positioning information relies on only releases positioning information at an update rate of 1Hz. When this new model uses the 2.4GHz or 5.8GHz frequency band, it can achieve a positioning frequency much higher than 1Hz, so as to facilitate the UAV 300 to perform directional navigation 10 to 100 times per second. Therefore, the present invention can assist the drone 300 to more accurately locate the current location of the drone 300 when using GPS navigation, so that the drone 300 can fly to a destination more accurately and efficiently. In one embodiment, the destination is the location where the radio wave transmitting unit 100 is located. The processor 220 assists in navigating the UAV 300 by monitoring 4 bytes of the positioning information to make the 4 bytes of positioning information equal, thereby assisting the GPS antenna unit 230 in navigating the UAV 300 to the destination. That is, the UAV 300 is guided to fly to the location of the radio wave transmitting unit 100 that emits the radio wave signals.

The receiving antenna 210 used by the radio wave receiving unit 200 is an antenna with low directivity, so as to receive the radio wave signals at a wider receiving angle. In this embodiment, the radio wave receiving unit 200 and the receiving antenna 210 in the radio wave receiving unit 200 are disposed on a circuit board 310 on the belly of the UAV 300 . The circuit board 310 is electrically connected to the system of the drone 300 to facilitate communication between the processor 220 in the radio wave receiving unit 200 and the drone 300 to transmit orientation and navigation information.

The miniature radio wave positioning device of the present invention uses the radio wave signals generated by the radio wave transmitting unit 100 for positioning. Compared with image or optical drone positioning methods, the new model is more reliable because it can be used in strong light environments or It can operate normally under low light conditions at night. Moreover, compared with image or optical drone positioning methods, the directional transmitting antennas 120 of the present invention are more resistant to dirt and vibration, and there is no need to worry about optical lenses being damaged or blocked, so they are highly reliable.

100: Radio wave transmitting unit

110: Transmitter holder

112: Inclined fixing hole

120: Directional transmitting antenna

121: First directional transmitting antenna

122: Second directional transmitting antenna

123:Third directional transmitting antenna

124: The fourth directional transmitting antenna

200: Radio wave receiving unit

300: Drone

Claims (12)

A miniature radio wave positioning device, including: a radio wave transmitting unit, including: a transmitter holder; a plurality of directional transmitting antennas, respectively arranged on the transmitter holder; a plurality of radio wave generators, electrically connected to one of the directional transmitters respectively The transmitting antenna generates a radio wave signal respectively, and transmits the radio wave signals through the directional transmitting antennas respectively; wherein the directions of the radio wave signals emitted are different from each other, and the radio wave generators generate the radio wave signals. A transmitting frequency higher than 1 Hertz (Hertz; Hz); a radio wave receiving unit for installation on a drone, including: a receiving antenna for installation on the drone; a processor electrically connected to the receiving antenna , and receive the radio wave signals emitted by the directional transmitting antennas through the receiving antenna; wherein the processor calculates a signal strength of each of the radio wave signals, and the processor generates positioning information based on the signal strengths ; Wherein, the signal strength is a received signal strength indication (Received Signal Strength Indication; RSSI). The miniature radio wave positioning device as claimed in claim 1, wherein the directional transmitting antennas include: a first directional transmitting antenna, which generates a first radio wave signal in a first transmitting direction; a second directional transmitting antenna, which produces a first radio wave signal in a first transmitting direction; The second transmitting direction generates a second radio wave signal; a third directional transmitting antenna generates a third radio wave signal in a third transmitting direction; a fourth directional transmitting antenna generates a fourth radio wave signal in a fourth transmitting direction ; Wherein, the first transmitting direction, the second transmitting direction, the third transmitting direction and the fourth transmitting direction are different from each other; wherein, the processor receives the first radio wave signal from the receiving antenna to calculate a first signal strength, receiving the second radio wave signal to calculate a second signal strength, receiving the third radio wave signal to calculate a third signal strength, and receiving the fourth radio wave signal to calculate a fourth signal strength; wherein, the processor is A total of 4 bytes of positioning information are correspondingly generated according to the first signal strength, the second signal strength, the third signal strength and the fourth signal strength. The micro radio wave positioning device according to claim 2, wherein the transmitter holder is in a cross shape, and the cross shape has a center point; wherein, the first directional transmitting antenna and the third directional transmitting antenna are The center point is disposed at opposite ends of the cross shape, and the second directional transmitting antenna and the fourth directional transmitting antenna are disposed at the other opposite ends of the cross shape at the center point; wherein, the transmitting antenna The device holder has a surface, and the first directional transmitting antenna, the second directional transmitting antenna, the third directional transmitting antenna and the fourth directional transmitting antenna are all disposed on the surface; wherein, when the processing When the processor determines that the first signal strength is greater than the third signal strength based on the positioning information, the processor determines that the UAV is located in the first transmitting direction relative to the center point; conversely, when the processor determines that the UAV is located in the first transmitting direction based on the positioning information When the third signal strength is greater than the first signal strength, the processor determines that the drone is located in the third transmitting direction relative to the center point; wherein, when the processor determines that the second signal strength is greater than the third signal strength based on the positioning information When the signal strength is four, the processor determines that the drone is located in the second transmitting direction relative to the center point; conversely, when the processor determines that the fourth signal strength is greater than the second signal strength based on the positioning information, the processor The device determines that the UAV is located in the fourth launch direction relative to the center point. The micro radio wave positioning device as described in claim 3, wherein when the processor determines the first signal strength, the second signal strength, the third signal strength and the fourth signal strength based on the positioning information, When the degrees are equal to each other, the processor determines that the UAV is located at all of the first directional transmitting antenna, the second directional transmitting antenna, the third directional transmitting antenna and the fourth directional transmitting antenna relative to the center point. at a position equidistant from the center point. The micro radio wave positioning device as claimed in claim 1, wherein the radio wave receiving unit further includes: a GPS antenna unit, electrically connected to the processor, and for receiving a Global Positioning System (GPS) signal to generate navigation to A GPS navigation information and a GPS positioning information of a destination coordinate, and output the GPS navigation information and the GPS positioning information to the processor; wherein, the processor corrects the GPS positioning information based on the positioning information, and converts the GPS positioning information to the processor. Navigation information and the GPS positioning information are output to the drone. The micro radio wave positioning device as claimed in claim 1, wherein the directional transmitting antennas are all a Yagi antenna, a horn antenna, or a helical antenna. The miniature radio wave positioning device as described in claim 1, wherein the radio wave signals generated by the directional transmitting antennas are all radio waves in the ISM band (Industrial Scientific Medical Band). The miniature radio wave positioning device as described in claim 7, wherein the radio wave signals generated by the directional transmitting antennas are all radio waves in the 2.4GHz or 5.8GHz band. The micro radio wave positioning device as claimed in claim 1, wherein the transmitter fixing base is provided with a plurality of inclined fixing holes, and the directional transmitting antennas are arranged in the inclined fixing holes; wherein the radio wave transmitting unit further It includes: a plurality of antenna protective shells, respectively covering the directional transmitting antennas and being arranged in the inclined fixing holes. The micro radio wave positioning device according to claim 9, wherein each of the antenna protective shells includes a plurality of shells, and the shells are detachably assembled to form each of the antenna protective shells. The miniature radio wave positioning device as claimed in claim 1, wherein the radio wave transmitting unit further includes: a protective cover covering the transmitter holder and the directional transmitting antennas. The micro radio wave positioning device as described in claim 1, wherein the radio wave generators are configured to use wireless local area network (WLAN), wireless network (Wireless Fidelity; Wi-Fi), Bluetooth (Bluetooth), Bluetooth low energy (BLE) or ZigBee (Internet of Things; IoT) chip is used to receive signals corresponding to the communication protocol and synchronously generate these radio wave signals.

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