TWM646714U - UAV positioning and navigation system - Google Patents

Abstract

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

UAV positioning and navigation system

This invention relates to a positioning and navigation system, especially a UAV positioning and navigation system that uses infrared rays for navigation.

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.

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.

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.

Accordingly, how to provide a UAV positioning and navigation system has become a current and research topic.

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.

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: UAV positioning and navigation system

11: Infrared signal transmitting device

111:Transmitter holder

112: Directional transmitting antenna

113: Radio wave ranging transmitter

114: Infrared signal generation module

115:First processor

116:First lens

117:Second lens

118:Mask

11A: Shell

11B: Shell

11C: Base

11D:Left shell

11E:Right shell

12:Infrared signal receiving device

121: Radio wave ranging receiver

122:Infrared signal receiver

123: Second processor

T1: the first time

T2: The second time

T3: The third time

T4: The fourth time

T5: The fifth time

P1: first signal pulse width

P2: second signal pulse width

P3: The third signal pulse width

P4: The fourth signal pulse width

A: Drone

θ: angle

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.

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.

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 .

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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: UAV positioning and navigation system

11: Infrared signal transmitting device

114: Infrared signal generation module

115:First processor

12:Infrared signal receiving device

122:Infrared signal receiver

123: Second processor

Claims (14)

An unmanned aerial vehicle positioning and navigation system, including: an infrared signal transmitting device, including: a transmitter fixed base; an infrared signal generation module, installed on the transmitter fixed base, transmitting in different directions along a vertical axis tilted at an angle Multiple sets of infrared signals; and a first processor electrically connected to the infrared signal generating module and generating the multiple sets of infrared signals through a predetermined timing sequence; and an infrared signal receiving device for installation on a drone, including: An infrared signal receiver receives the multiple sets of infrared signals; and a second processor is electrically connected to the infrared signal receiver and receives the multiple sets of infrared signals; wherein the second processor is configured according to the multiple sets of infrared signals. Generate certain positioning information. The UAV positioning and navigation system as described in claim 1, wherein the transmitter fixing base further includes four shells, the four shells respectively include a shell and a base, the shell is arranged on the base, and is tilted vertically Axis is set at an angle of 5 to 15 degrees. The UAV positioning and navigation system as claimed in claim 2, wherein the infrared signal generation module includes a first infrared signal generator, a second infrared signal generator, a third infrared signal generator and a fourth infrared signal Generators are respectively installed on the base of the four shells, and emit a first infrared signal, a second infrared signal towards a first emission direction, a second emission direction, a third emission direction and a fourth emission direction. an infrared signal, a third infrared signal and a fourth infrared signal. The UAV positioning and navigation system as described in claim 3, wherein the infrared signal transmitting device further includes: Four first lenses are respectively provided in the shell of the four shells, and are respectively provided in the first infrared signal generator, the second infrared signal generator, the third infrared signal generator and the fourth infrared signal The generator emits the first infrared signal, the second infrared signal, the third infrared signal and the fourth infrared signal on one path. The UAV positioning and navigation system as described in claim 4, wherein the infrared signal transmitting device further includes: four second lenses, which are respectively provided in the casing of the four housings and corresponding to the positions of the four first lenses. , causing the first infrared signal, the second infrared signal, the third infrared signal and the fourth infrared signal to pass through the four second lenses respectively after passing through the four first lenses. As claimed in claim 5, the UAV positioning and navigation system, wherein the infrared signal transmitting device further includes four masks, respectively disposed between the four first lenses and the four second lenses. The UAV positioning and navigation system as described in claim 6, wherein each of the four masks has a square perforation inside, and the square perforation corresponds to the first infrared signal, the second infrared signal, the third infrared signal and the The path position of the fourth infrared signal. The UAV positioning and navigation system as described in claim 3, wherein the first processor generates a first infrared signal at a first time, a second infrared signal at a second time, and a third infrared signal at a third time. A third infrared signal generates a fourth infrared signal at a fourth time. The UAV positioning and navigation system as described in claim 8, wherein the first processor simultaneously generates the first infrared signal, the second infrared signal, the third infrared signal and the fourth infrared signal at a fifth time. . The UAV positioning and navigation system as claimed in claim 9, wherein the second processor performs the processing according to the first infrared signal received at the first time, the second infrared signal received at the second time, and the third infrared signal received at the second time. The third infrared signal received at the fourth time, the fourth infrared signal received at the fourth time The infrared signal, the first infrared signal, the second infrared signal, the third infrared signal, and the fourth infrared signal received at the fifth time generate the positioning information. The UAV positioning and navigation system as described in claim 8, wherein the first infrared signal, the second infrared signal, the third infrared signal, and the fourth infrared signal have a first signal pulse width and a second signal respectively. pulse width, a third signal pulse width, a fourth signal pulse width. The UAV positioning and navigation system as claimed in claim 11, wherein the first to fourth signal pulse widths respectively have different pulse widths. The UAV positioning and navigation system as claimed in claim 12, wherein the second processor performs the processing according to the first infrared signal received at the first time, the second infrared signal received at the second time, and the third infrared signal received at the second time. The third infrared signal received at the fourth time and the fourth infrared signal received at the fourth time generate the positioning information. The UAV positioning and navigation system as described in claim 1, wherein the infrared signal transmitting device further includes: a directional transmitting antenna disposed on the transmitter fixed base; and a radio wave ranging transmitter disposed on the transmitter The directional transmitting antenna is electrically connected to the device fixing base, and a distance signal is transmitted through the directional transmitting antenna; the infrared signal receiving device further includes: a radio wave ranging receiver, electrically connected to the second processor for setting On the UAV, the distance signal is received; wherein the distance signal transmitted by the radio wave ranging transmitter through the directional transmitting antenna is a vertical signal, and the second processor is based on the radio wave ranging receiver. The strength of the received distance signal determines the height of the drone.