TWM646714U - UAV positioning and navigation system - Google Patents
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Abstract
本創作揭露一種無人機定位導航系統,包含紅外線訊號發射裝置及紅外線訊號接收裝置。紅外線訊號發射裝置包含發射器固定座、紅外線訊號產生模組及第一處理器。第一處理器電連接紅外線訊號產生模組,並透過預定時序產生多組紅外線訊號,透過設在發射器固定座上的紅外線訊號產生模組發射多組紅外線訊號。再由設於無人機上的紅外線訊號接收裝置接收多組紅外線訊號,該紅外線訊號接收裝置包含紅外線訊號接收器及第二處理器。第二處理器電連接紅外線訊號接收器,且接收各組紅外線訊號以產生定位資訊。This creation discloses a drone positioning and navigation system, including an infrared signal transmitting device and an infrared signal receiving device. The infrared signal transmitting device includes a transmitter holder, an infrared signal generating module and a first processor. The first processor is electrically connected to the infrared signal generating module, and generates multiple sets of infrared signals through a predetermined timing sequence, and emits multiple sets of infrared signals through the infrared signal generating module located on the transmitter holder. Then, multiple sets of infrared signals are received by an infrared signal receiving device installed on the drone. The infrared signal receiving device includes an infrared signal receiver and a second processor. The second processor is electrically connected to the infrared signal receiver and receives each set of infrared signals to generate positioning information.
Description
本創作係關於一種定位導航系統,特別是關於一種採用紅外線進行導航的無人機定位導航系統。 This invention relates to a positioning and navigation system, especially a UAV positioning and navigation system that uses infrared rays for navigation.
無人機係為目前使用者常用的電子裝置之一,而雖然名為無人機,但在無人機的技術領域中,仍需要透過人眼觀察及判斷無人機的定位位置。例如,使用者以目視的方式,或是觀看無人機回傳影像的方式定位無人機的位置。然而,此種定位方式不但耗費人力資源,且當該使用者迷失方向時,無人機的定位也將出現錯誤,使無人機無法正確定位和導航回歸至該使用者旁邊的位置。 Drones are one of the commonly used electronic devices currently used by users. Although they are called drones, in the technical field of drones, it is still necessary to observe and determine the position of the drone through human eyes. For example, the user locates the position of the drone visually or by watching the images returned by the drone. However, 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 position next to the user.
另外,市面上部分的無人機需倚賴全球定位系統(Global Positioning System;GPS)的技術加以定位與導航。然而,由於GPS的更新率是1赫茲(Hertz;Hz),故GPS定位之方式只能每秒做一次的定位,因而使得無人機在導航時無法快速地定位和調整飛行航向,迫使無人機的飛行速度無法進一步的提升。 In addition, some drones on the market rely on Global Positioning System (GPS) technology for positioning and navigation. However, since the update rate of GPS is 1 Hertz (Hz), the GPS positioning method can only perform positioning once per second. Therefore, the UAV cannot quickly locate and adjust the flight direction during navigation, forcing the UAV to The flight speed cannot be further increased.
再者,無人機透過GPS定位也有定位精準度不佳的問題。進一步而言,GPS的定位誤差大約在3~20公尺的精準度之內,然而,由於無人機本身的機身長度大約在1公尺以下的長度,因此,若無法提升無人機定位的精準度,將使得無人機無法廣泛的被應用。 Furthermore, drone positioning through GPS also has the problem of poor positioning accuracy. Furthermore, the positioning error of GPS is within an accuracy of approximately 3 to 20 meters. However, since the length of the drone itself is approximately less than 1 meter, therefore, if the accuracy of the positioning of the drone cannot be improved, This will prevent UAVs from being widely used.
據此,如何提供一種無人機定位導航系統已成為目前及研究的課題。 Accordingly, how to provide a UAV positioning and navigation system has become a current and research topic.
鑑於上述問題,本創作揭露一種無人機定位導航系統,包含一紅外線訊號發射裝置及一紅外線訊號接收裝置。紅外線訊號發射裝置包含一發射器固定座、紅外線訊號產生模組及一第一處理器。紅外線訊號產生模組設置於發射器固定座上,且朝向沿垂直軸分別傾斜一角度的不同方向發射多組紅外線訊號。第一處理器電連接紅外線訊號產生模組,並透過一預定時序產生紅外線訊號。紅外線訊號接收裝置供設置於一無人機上,包含一紅外線訊號接收器及一第二處理器。第二處理器電連接紅外線訊號接收器,且通過紅外線訊號接收器接收紅外線訊號,其中,第二處理器根據紅外線訊號產生一定位資訊。 In view of the above problems, this invention discloses a drone positioning and navigation system, which includes an infrared signal transmitting device and an infrared signal receiving device. The infrared signal transmitting device includes a transmitter holder, an infrared signal generating module and a first processor. The infrared signal generating module is arranged on the transmitter holder and emits multiple sets of infrared signals in different directions that are respectively inclined at an angle along the vertical axis. The first processor is electrically connected to the infrared signal generating module and generates the infrared signal through a predetermined timing sequence. The infrared signal receiving device is provided on a drone and includes an infrared signal receiver and a second processor. The second processor is electrically connected to the infrared signal receiver and receives the infrared signal through the infrared signal receiver. The second processor generates positioning information based on the infrared signal.
承上所述,相較於習知技術使用1Hz的GPS更新速率作為定位資訊及導航,本創作可在每秒進行10至100次的定向導航,進一步提升無人機定位的精準度,並有助於無人機更精確且有效率的飛行至目的地。此外,本創作無人機的紅外線訊號發射裝置具有體積小、設置簡易、以及便於使用者攜帶的優點,因此,在容易設置及保養的情況下,可有利於使用者廣泛地使用本創作無人機定位導航系統。 Based on the above, compared with the conventional technology that uses 1Hz GPS update rate for positioning information and navigation, this creation can perform directional navigation 10 to 100 times per second, further improving the accuracy of drone positioning and helping Allow drones to fly to their destination more accurately and efficiently. In addition, the infrared signal transmitting device of the drone of this invention has the advantages of small size, easy installation, and easy portability by the user. Therefore, it is easy to set up and maintain, and can help users to widely use the drone of this invention for positioning. Navigation system.
1:無人機定位導航系統 1: UAV positioning and navigation system
11:紅外線訊號發射裝置 11: Infrared signal transmitting device
111:發射器固定座 111:Transmitter holder
112:指向性發射天線 112: Directional transmitting antenna
113:電波測距發訊器 113: Radio wave ranging transmitter
114:紅外線訊號產生模組 114: Infrared signal generation module
115:第一處理器 115:First processor
116:第一透鏡 116:First lens
117:第二透鏡 117:Second lens
118:遮罩 118:Mask
11A:殼體 11A: Shell
11B:外殼 11B: Shell
11C:底座 11C: Base
11D:左殼體 11D:Left shell
11E:右殼體 11E:Right shell
12:紅外線訊號接收裝置 12:Infrared signal receiving device
121:電波測距接收器 121: Radio wave ranging receiver
122:紅外線訊號接收器 122:Infrared signal receiver
123:第二處理器 123: Second processor
T1:第一時間 T1: the first time
T2:第二時間 T2: The second time
T3:第三時間 T3: The third time
T4:第四時間 T4: The fourth time
T5:第五時間 T5: The fifth time
P1:第一訊號脈衝寬度 P1: first signal pulse width
P2:第二訊號脈衝寬度 P2: second signal pulse width
P3:第三訊號脈衝寬度 P3: The third signal pulse width
P4:第四訊號脈衝寬度 P4: The fourth signal pulse width
A:無人機 A: Drone
θ:角度 θ: angle
圖1A及圖1B係為本創作無人機定位導航系統的方塊示意圖及立體圖;圖1C係為本創作無人機定位導航系統的另一方塊示意圖; 圖2A及圖2B係為本創作無人機定位導航系統的發射器固定座分解圖及側視圖;圖3A至圖3C係為本創作紅外線訊號的第一實施例時序示意圖;以及圖4A至圖4C係為本創作紅外線訊號的第二實施例時序示意圖。 Figures 1A and 1B are block diagrams and perspective views of the UAV positioning and navigation system of this invention; Figure 1C is another block diagram of the UAV positioning and navigation system of this invention; Figures 2A and 2B are exploded views and side views of the transmitter holder of the UAV positioning and navigation system of this invention; Figures 3A to 3C are timing diagrams of infrared signals according to the first embodiment of this invention; and Figures 4A to 4C This is a timing diagram of the second embodiment of the infrared signal of this invention.
請參閱圖1A及圖1B,其係為本創作無人機定位導航系統的方塊示意圖及立體圖。無人機定位導航系統1包含一紅外線訊號發射裝置11及一紅外線訊號接收裝置12。紅外線訊號發射裝置11包含一發射器固定座111、一紅外線訊號產生模組114及一第一處理器115。紅外線訊號產生模組114設置於發射器固定座111上,沿一垂直軸傾斜一角度的不同方向發射多組紅外線訊號。第一處理器115電連接紅外線訊號產生模組114,並透過一預定時序產生紅外線訊號。紅外線訊號接收裝置12供設置於無人機A上,包含一紅外線訊號接收器122及一第二處理器123。紅外線訊號接收器122供設置於無人機A上,接收多組紅外線訊號。第二處理器123電連接紅外線訊號接收器122,且通過紅外線訊號接收器122接收多組紅外線訊號。第二處理器123根據多組紅外線訊號產生一定位資訊。 Please refer to Figure 1A and Figure 1B, which are block diagrams and three-dimensional views of the UAV positioning and navigation system of this invention. The UAV positioning and navigation system 1 includes an infrared signal transmitting device 11 and an infrared signal receiving device 12 . The infrared signal transmitting device 11 includes a transmitter holder 111, an infrared signal generating module 114 and a first processor 115. The infrared signal generating module 114 is disposed on the transmitter holder 111 and emits multiple sets of infrared signals in different directions tilted at an angle along a vertical axis. The first processor 115 is electrically connected to the infrared signal generating module 114 and generates an infrared signal through a predetermined timing sequence. The infrared signal receiving device 12 is provided on the drone A and includes an infrared signal receiver 122 and a second processor 123 . The infrared signal receiver 122 is provided on the drone A to receive multiple sets of infrared signals. The second processor 123 is electrically connected to the infrared signal receiver 122, and receives multiple sets of infrared signals through the infrared signal receiver 122. The second processor 123 generates positioning information based on multiple sets of infrared signals.
請參閱圖1C,其係為本創作無人機定位導航系統的另一方塊示意圖。於此實施例中,無人機定位導航系統1的紅外線訊號發射裝置11更包含一指向性發射天線112、一電波測距發訊器113,紅外線訊號接收裝置12更包含一電波測距接收器121。指向性發射天線112設置於發射器固定座111上。電波測距發訊器113電連接第一處理器115及指向性發射天線112,並設置於發射器固定座111上,並通過指向性發射天線112發射一距離訊號。電波測距接收器 121電連接第二處理器123,供設置於無人機A上,接收距離訊號。第二處理器123通過電波測距接收器121接收距離訊號。 Please refer to Figure 1C, which is another block diagram of the UAV positioning and navigation system of this invention. In this embodiment, the infrared signal transmitting device 11 of the UAV positioning and navigation system 1 further includes a directional transmitting antenna 112 and a radio wave ranging transmitter 113, and the infrared signal receiving device 12 further includes a radio wave ranging receiver 121 . The directional transmitting antenna 112 is disposed on the transmitter fixing base 111 . The radio wave ranging transmitter 113 is electrically connected to the first processor 115 and the directional transmitting antenna 112, is disposed on the transmitter holder 111, and transmits a distance signal through the directional transmitting antenna 112. radio wave ranging receiver 121 is electrically connected to the second processor 123 for being installed on the drone A to receive the distance signal. The second processor 123 receives the distance signal through the radio wave ranging receiver 121 .
電波測距發訊器113通過指向性發射天線112所發射的距離訊號係為垂直訊號,亦即,當無人機A透過GPS導航至紅外線訊號發射裝置11的上空附近時,先透過第二處理器123根據紅外線訊號接收器122所接收到的多組紅外線訊號判斷水平位置,以導航無人機A至無人機定位導航系統1的上方,再透過第二處理器123根據電波測距接收器121所接收到距離訊號的強弱,判斷垂直高度的位置,以導航無人機A進行垂直降落的定位。 The distance signal transmitted by the radio ranging transmitter 113 through the directional transmitting antenna 112 is a vertical signal. That is, when the drone A navigates to the vicinity of the infrared signal transmitting device 11 through GPS, it first passes through the second processor 123 determines the horizontal position based on the multiple sets of infrared signals received by the infrared signal receiver 122 to navigate the drone A to the top of the drone positioning and navigation system 1, and then uses the second processor 123 to determine the horizontal position according to the signals received by the radio ranging receiver 121 Based on the strength of the distance signal, the vertical height position is determined to guide UAV A to position for vertical landing.
指向性發射天線112所產生的電波訊號皆為ISM頻段(Industrial Scientific Medical Band)之電波,因此無需特別申請無線電執照即可使用,相當方便。並且,在各國共同的ISM頻段中,又以2.4GHz與5.8GHz波段之電波最廣為使用,故在本實施例中,指向性發射天線112所產生的該些電波訊號皆為2.4GHz與5.8GHz波段之電波。 The radio wave signals generated by the directional transmitting antenna 112 are all radio waves in the ISM band (Industrial Scientific Medical Band), so it can be used without special application for a radio license, which is very convenient. Moreover, among the ISM frequency bands common to various countries, radio waves in the 2.4GHz and 5.8GHz bands are the most widely used. Therefore, in this embodiment, the radio wave signals generated by the directional transmitting antenna 112 are both 2.4GHz and 5.8GHz. Radio waves in the GHz band.
請參閱圖2A及圖2B,其係為本創作無人機定位導航系統的發射器固定座分解圖及側視圖。發射器固定座111包含四殼體11A,四殼體11A分別包含一外殼11B及一底座11C,外殼11B包含左殼體11D和右殼體11E,設置於底座11C上,並以傾斜一垂直軸5至15度的一θ角度設置。 Please refer to Figure 2A and Figure 2B, which are an exploded view and a side view of the transmitter holder of the UAV positioning and navigation system of this invention. The transmitter holder 111 includes four shells 11A. The four shells 11A respectively include a shell 11B and a base 11C. The shell 11B includes a left shell 11D and a right shell 11E, which are arranged on the base 11C and tilted along a vertical axis. A theta angle setting of 5 to 15 degrees.
如圖2A所示,紅外線訊號產生模組114包含第一紅外線訊號產生器、第二紅外線訊號產生器、第三紅外線訊號產生器及第四紅外線訊號產生器,分別設置於四殼體11A的底座11C上,並朝向第一發射方向、第二發射方向、第三發射方向及第四發射方向發射紅外線訊號。於本創作實施例中,第一發射方向、一第二發射方向、一第三發射方向及一第四發射方向分別對應東南西北的方向。在本創作其他實施例中,可進一步設置第五至第八紅外線訊號產 生器,並對應設置於東北、東南、西北及西南的方向,以提升無人機定位的精準度。 As shown in FIG. 2A , the infrared signal generation module 114 includes a first infrared signal generator, a second infrared signal generator, a third infrared signal generator and a fourth infrared signal generator, which are respectively installed at the base of the four-shell body 11A. 11C, and emit infrared signals toward the first emission direction, the second emission direction, the third emission direction and the fourth emission direction. In this creative embodiment, the first emission direction, a second emission direction, a third emission direction and a fourth emission direction respectively correspond to the directions of southeast, northwest and northwest. In other embodiments of the present invention, fifth to eighth infrared signal products can be further configured. generators and correspondingly set them in the northeast, southeast, northwest and southwest directions to improve the accuracy of UAV positioning.
如圖2A所示,紅外線訊號發射裝置11更包含四第一透鏡116,分別設置於四殼體11A的外殼11B中,並分別設置於第一紅外線訊號產生器、第二紅外線訊號產生器、第三紅外線訊號產生器及第四紅外線訊號產生器發射紅外線訊號的路徑上。進一步而言,由於紅外線訊號產生模組114係透過發射紅外線訊號導引定位無人機,因此,透過第一透鏡116的設置,可對紅外線訊號的光線形成聚焦、導引的效果。 As shown in FIG. 2A, the infrared signal transmitting device 11 further includes four first lenses 116, which are respectively provided in the housing 11B of the four housings 11A, and are respectively provided in the first infrared signal generator, the second infrared signal generator, and the third infrared signal generator. The three infrared signal generators and the fourth infrared signal generator emit infrared signals on the path. Furthermore, since the infrared signal generating module 114 guides and positions the drone by emitting infrared signals, the arrangement of the first lens 116 can focus and guide the light of the infrared signal.
如圖2A所示,紅外線訊號發射裝置11更包含四第二透鏡117,分別設置於四殼體11A的外殼11B中,且分別對應四第一透鏡116的位置設置,使第一紅外線訊號產生器、第二紅外線訊號產生器、第三紅外線訊號產生器及第四紅外線訊號產生器發射的紅外線訊號分別於通過四第一透鏡116後,進一步分別通過四第二透鏡117。透過第一透鏡116配合第二透鏡117的設置,可對紅外線訊號的光線形成聚焦、導引的效果。 As shown in FIG. 2A , the infrared signal transmitting device 11 further includes four second lenses 117 , which are respectively disposed in the housing 11B of the four housings 11A and corresponding to the positions of the four first lenses 116 , so that the first infrared signal generator The infrared signals emitted by the second infrared signal generator, the third infrared signal generator and the fourth infrared signal generator respectively pass through the four first lenses 116 and then further pass through the four second lenses 117 respectively. Through the arrangement of the first lens 116 and the second lens 117, the light of the infrared signal can be focused and guided.
如圖2A所示,紅外線訊號發射裝置11更包含四遮罩118,分別設置於四第一透鏡116及四第二透鏡117之間。遮罩118於內部具有一方形穿孔,方形穿孔對應紅外線訊號的路徑位置,使得紅外線訊號的光線形成方形的光束。 As shown in FIG. 2A , the infrared signal emitting device 11 further includes four masks 118 , which are respectively disposed between the four first lenses 116 and the four second lenses 117 . The shield 118 has a square perforation inside, and the square perforation corresponds to the path position of the infrared signal, so that the light of the infrared signal forms a square beam.
請參閱圖3A至圖3C,其係為本創作紅外線訊號的第一實施例時序示意圖。於本創作中,無人機定位導航系統透過產生紅外線訊號的時序變化作為無人機的定位導航。進一步而言,如圖3A所示,第一處理器115於第一時間T1產生第一紅外線訊號,並透過第一紅外線訊號產生器發射第一紅外線訊號。第一處理器115於第二時間T2產生第二紅外線訊號,並透過第二紅外線訊號產生器發射第二紅外線訊號。第一處理器115於第三時間T3產生第三紅外線 訊號,並透過第三紅外線訊號產生器發射第三紅外線訊號。第一處理器115於第四時間T4產生第四紅外線訊號,並透過第四紅外線訊號產生器發射第四紅外線訊號。第一處理器115於第五時間T5同時產生第一紅外線訊號、第二紅外線訊號、第三紅外線訊號及第四紅外線訊號,並分別透過第一紅外線訊號產生器、第二紅外線訊號產生器、第三紅外線訊號產生器、第四紅外線訊號產生器發射第一紅外線訊號、第二紅外線訊號、第三紅外線訊號、第四紅外線訊號至無人機A上。此外,需注意的是於本創作中,上述各個時間係為了方便區別不同紅外線訊號產生器所發出的紅外線訊號,實際上各個時間點之間的時間間隔微小。 Please refer to Figures 3A to 3C, which are timing diagrams of infrared signals according to the first embodiment of the present invention. In this creation, the UAV positioning and navigation system generates temporal changes in infrared signals as the positioning and navigation of the UAV. Furthermore, as shown in FIG. 3A , the first processor 115 generates the first infrared signal at the first time T1 and emits the first infrared signal through the first infrared signal generator. The first processor 115 generates a second infrared signal at the second time T2 and emits the second infrared signal through the second infrared signal generator. The first processor 115 generates the third infrared ray at the third time T3 signal, and emit the third infrared signal through the third infrared signal generator. The first processor 115 generates the fourth infrared signal at the fourth time T4 and emits the fourth infrared signal through the fourth infrared signal generator. The first processor 115 simultaneously generates the first infrared signal, the second infrared signal, the third infrared signal and the fourth infrared signal at the fifth time T5, and passes the first infrared signal generator, the second infrared signal generator, and the fourth infrared signal respectively. The three infrared signal generators and the fourth infrared signal generator transmit the first infrared signal, the second infrared signal, the third infrared signal and the fourth infrared signal to the drone A. In addition, it should be noted that in this creation, the above-mentioned times are for the convenience of distinguishing the infrared signals emitted by different infrared signal generators. In fact, the time intervals between each time point are very small.
此外,為了方便說明方向起見,係將第一紅外線訊號產生器設置於朝向北方的方向,將第二紅外線訊號產生器設置於朝向南方的方向,將第三紅外線訊號產生器設置於朝向東方的方向,將第四紅外線訊號產生器設置於朝向西方的方向,因此,第一紅外線訊號、第二紅外線訊號、第三紅外線訊號及第四紅外線訊號係分別朝向北方、南方、東方以及西方的方向發射,以便於作為無人機A方向定位的參考依據。 In addition, for the convenience of explaining the directions, the first infrared signal generator is arranged in the direction facing north, the second infrared signal generator is arranged in the direction facing south, and the third infrared signal generator is arranged in the direction facing east. direction, the fourth infrared signal generator is arranged in the direction facing the west. Therefore, the first infrared signal, the second infrared signal, the third infrared signal and the fourth infrared signal are emitted towards the north, south, east and west directions respectively. , so as to serve as a reference for positioning the UAV in direction A.
無人機A透過設置於機上之紅外線訊號接收裝置12的紅外線訊號接收器122接收各個方向的紅外線訊號,並將接收的紅外線訊號傳送到第二處理器123。第二處理器123根據在第一時間T1接收的第一紅外線訊號、在第二時間T2接收的第二紅外線訊號、在第三時間T3接收的第三紅外線訊號、在第四時間T4接收的第四紅外線訊號、在第五時間T5接收的第一紅外線訊號、第二紅外線訊號、第三紅外線訊號、第四紅外線訊號產生定位資訊。如圖3B所示,圖3B係為當無人機A位於垂直軸上,第二處理器123所收到的紅外線訊號示意圖。進一步而言,當無人機A的紅外線訊號接收器122在上述各個時間點正確接收到圖3A中各個紅外線訊號產生器所發射的紅外線訊號時,產生如圖3B所示的紅外 線訊號時序,第二處理器123判斷此時無人機A已準確地定位在紅外線訊號發射裝置11的上方位置。如圖3C所示,第一紅外線訊號係無人機A偏向北方,第二處理器123所收到的訊號;第二紅外線訊號係無人機A偏向南方,第二處理器123所收到的訊號;第三紅外線訊號係無人機A偏向東方,第二處理器123所收到的訊號;第四紅外線訊號係無人機A偏向西方,第二處理器123所收到的訊號。當無人機A沒有接收到設置於南方方向的紅外線訊號產生器所發出的紅外線訊號時,表示無人機A並未被準確地導引,而往北方的方向偏離。因此,第二處理器123根據此判斷結果產生校正訊號,修正無人機A往南方的方向移動。 UAV A receives infrared signals from various directions through the infrared signal receiver 122 of the infrared signal receiving device 12 installed on the aircraft, and transmits the received infrared signals to the second processor 123 . The second processor 123 is based on the first infrared signal received at the first time T1, the second infrared signal received at the second time T2, the third infrared signal received at the third time T3, and the third infrared signal received at the fourth time T4. The four infrared signals, the first infrared signal, the second infrared signal, the third infrared signal and the fourth infrared signal received at the fifth time T5 generate positioning information. As shown in Figure 3B, Figure 3B is a schematic diagram of the infrared signal received by the second processor 123 when the drone A is located on the vertical axis. Furthermore, when the infrared signal receiver 122 of UAV A correctly receives the infrared signals emitted by each infrared signal generator in FIG. 3A at each of the above time points, an infrared signal as shown in FIG. 3B is generated. According to the line signal timing, the second processor 123 determines that the drone A has been accurately positioned above the infrared signal transmitting device 11 at this time. As shown in Figure 3C, the first infrared signal is the signal received by the second processor 123 when the drone A is tilted to the north; the second infrared signal is the signal received by the second processor 123 when the drone A is tilted to the south; The third infrared signal is the signal received by the second processor 123 when the drone A is tilted to the east; the fourth infrared signal is the signal received by the second processor 123 when the drone A is tilted to the west. When UAV A does not receive the infrared signal emitted by the infrared signal generator installed in the south direction, it means that UAV A is not accurately guided and deviates in the north direction. Therefore, the second processor 123 generates a correction signal based on the judgment result to correct the movement of UAV A in the south direction.
請參閱圖4A至圖4C,其係為本創作紅外線訊號第二實施例的時序示意圖。於此實施例中,無人機定位導航系統1除了透過產生紅外線訊號的時序變化作為無人機A的定位導航資訊以外,更進一步透過紅外線訊號的脈衝寬度變化作為定位資訊的參考。進一步而言,如圖4A所示,第一處理器115於第一時間T1產生具有第一訊號脈衝寬度P1的第一紅外線訊號、於第二時間T2產生具有第二訊號脈衝寬度P2的第二紅外線訊號、於第三時間T3產生具有第三訊號脈衝寬度P3的第三紅外線訊號,於第四時間T4產生具有第四訊號脈衝寬度P4的第四紅外線訊號,並分別透過第一紅外線訊號產生器、第二紅外線訊號產生器、第三紅外線訊號產生器、第四紅外線訊號產生器發射第一紅外線訊號、第二紅外線訊號、第三紅外線訊號、第四紅外線訊號至無人機A上。第二處理器123根據在第一時間T1接收的第一紅外線訊號、在第二時間T2接收的第二紅外線訊號、在第三時間T3接收的第三紅外線訊號、在第四時間T4接收的第四紅外線訊號產生定位資訊。如圖4B所示,圖4B係為當無人機A位於垂直軸上,第二處理器123所收到的紅外線訊號示意圖。進一步而言,如圖4B所示,當無人機A的紅外線訊號接收器122在上述各個時間點正確接收到各個紅外線訊號產生器所發射的紅外線訊號時,產生如圖4B所示的紅外線訊號時序,第二處理器123 判斷此時無人機A已準確地定位在紅外線訊號發射裝置11的上方位置。如圖4C所示,第一紅外線訊號係無人機A偏向北方,第二處理器123所收到的訊號;第二紅外線訊號係無人機A偏向南方,第二處理器123所收到的訊號;第三紅外線訊號係無人機A偏向東方,第二處理器123所收到的訊號;第四紅外線訊號係無人機A偏向西方,第二處理器123所收到的訊號。如圖4C所示,當無人機A沒有接收到設置於北方方向的紅外線訊號產生器所發出的紅外線訊號時,表示無人機A並未被準確地導引,而往南方的方向偏離。因此,第二處理器123根據此判斷結果產生校正訊號,修正無人機A往北方的方向移動。 Please refer to Figures 4A to 4C, which are timing diagrams of infrared signals according to the second embodiment of the present invention. In this embodiment, the UAV positioning and navigation system 1 not only generates the timing changes of the infrared signal as the positioning and navigation information of the UAV A, but also uses the pulse width changes of the infrared signal as a reference for the positioning information. Furthermore, as shown in FIG. 4A , the first processor 115 generates a first infrared signal with a first signal pulse width P1 at the first time T1, and generates a second infrared signal with a second signal pulse width P2 at the second time T2. The infrared signal generates a third infrared signal with a third signal pulse width P3 at the third time T3, and generates a fourth infrared signal with the fourth signal pulse width P4 at the fourth time T4, and respectively passes through the first infrared signal generator. , the second infrared signal generator, the third infrared signal generator, and the fourth infrared signal generator transmit the first infrared signal, the second infrared signal, the third infrared signal, and the fourth infrared signal to the drone A. The second processor 123 is based on the first infrared signal received at the first time T1, the second infrared signal received at the second time T2, the third infrared signal received at the third time T3, and the third infrared signal received at the fourth time T4. Four infrared signals generate positioning information. As shown in Figure 4B, Figure 4B is a schematic diagram of the infrared signal received by the second processor 123 when the drone A is located on the vertical axis. Furthermore, as shown in FIG. 4B , when the infrared signal receiver 122 of UAV A correctly receives the infrared signals emitted by each infrared signal generator at each of the above time points, the infrared signal timing sequence shown in FIG. 4B is generated. , the second processor 123 It is determined that UAV A has been accurately positioned above the infrared signal transmitting device 11 at this time. As shown in Figure 4C, the first infrared signal is the signal received by the second processor 123 when the drone A is tilted to the north; the second infrared signal is the signal received by the second processor 123 when the drone A is tilted to the south; The third infrared signal is the signal received by the second processor 123 when the drone A is tilted to the east; the fourth infrared signal is the signal received by the second processor 123 when the drone A is tilted to the west. As shown in Figure 4C, when UAV A does not receive the infrared signal emitted by the infrared signal generator installed in the north direction, it means that UAV A is not accurately guided and deviates in the south direction. Therefore, the second processor 123 generates a correction signal based on the judgment result to correct the movement of UAV A in the north direction.
綜上所述,相較於習知技術使用的GPS定位裝置僅能在每秒做一次的定位,本創作最高定位精準度介於正負1公分之間,可在每秒進行10至50次的定向導航,並於無人機的紅外線訊號接收裝置上即時地進行訊號處理及定位,進一步提升無人機定位的精準度,並有助於無人機更精確且有效率的飛行至目的地。此外,本創作無人機的紅外線訊號發射裝置使用四組紅外線訊號產生器,具有體積小、設置簡易集中、保養容易、便於使用者攜帶的優點。此外,相較於GPS的定位裝置,本創作可設置於室內使用,並可應用在1至10公尺的直線導航。再者,本創作可使用家用WiFi基地台的ISM頻段,無須另外申請無線電使用執照。因此,在容易設置、保養、無須額外申請無線電使用執照的情況下,可有利於使用者廣泛地使用本創作無人機定位導航系統。 To sum up, compared with the GPS positioning device used in the conventional technology, which can only perform positioning once per second, the maximum positioning accuracy of this invention is between plus and minus 1 centimeter, and can perform positioning 10 to 50 times per second. Directional navigation, and real-time signal processing and positioning on the drone's infrared signal receiving device, further improves the accuracy of the drone's positioning and helps the drone fly to its destination more accurately and efficiently. In addition, the infrared signal transmitting device of the drone of this invention uses four sets of infrared signal generators, which has the advantages of small size, simple and centralized setup, easy maintenance, and easy portability by the user. In addition, compared with GPS positioning devices, this creation can be set up for indoor use and can be used for straight-line navigation from 1 to 10 meters. Furthermore, this creation can use the ISM frequency band of home WiFi base stations, without the need to apply for a separate radio license. Therefore, it is easy to set up and maintain, and there is no need to apply for an additional radio license, which can help users to widely use the drone positioning and navigation system of this invention.
1:無人機定位導航系統 1: UAV positioning and navigation system
11:紅外線訊號發射裝置 11: Infrared signal transmitting device
114:紅外線訊號產生模組 114: Infrared signal generation module
115:第一處理器 115:First processor
12:紅外線訊號接收裝置 12:Infrared signal receiving device
122:紅外線訊號接收器 122:Infrared signal receiver
123:第二處理器 123: Second processor
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