WO2017177664A1 - 天线支架、定位模组及无人机 - Google Patents

天线支架、定位模组及无人机 Download PDF

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Publication number
WO2017177664A1
WO2017177664A1 PCT/CN2016/104220 CN2016104220W WO2017177664A1 WO 2017177664 A1 WO2017177664 A1 WO 2017177664A1 CN 2016104220 W CN2016104220 W CN 2016104220W WO 2017177664 A1 WO2017177664 A1 WO 2017177664A1
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WO
WIPO (PCT)
Prior art keywords
positioning
module
antenna
platform
drone
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2016/104220
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English (en)
French (fr)
Inventor
王佳迪
张永生
胡孟
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Publication of WO2017177664A1 publication Critical patent/WO2017177664A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/12—Supports; Mounting means
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/28—Adaptation for use in or on aircraft, missiles, satellites, or balloons

Definitions

  • the invention relates to the field of drones, in particular to an antenna bracket, a positioning module and a drone.
  • the carrier phase difference technique is a differential method for processing the phase observation of two stations in real time.
  • the carrier phase acquired by the base station is sent to the user receiver to perform the difference calculation coordinate to locate.
  • Carrier phase difference is required by the technology, and it is usually required to install one or more positioning antennas that cooperate with the reference station on the object to be positioned. Applying the carrier phase difference technology to the drone can greatly improve the positioning accuracy of the drone.
  • the positioning module is installed on the drone, the distance between the antennas needs to be ensured, otherwise the accuracy of the orientation or posture of the drone calculated by the positioning module cannot be ensured.
  • the positioning antenna of the positioning module is susceptible to electromagnetic radiation interference generated by the flight control and electric adjustment system of the drone, and affects the positioning accuracy.
  • An antenna bracket is fixed on a mounting surface, and the antenna bracket includes two convex arms that are relatively fixed in position, and one end of each of the convex arms away from the mounting surface is provided with a carrying platform.
  • the carriers are at the same height.
  • the carriers extend in a direction away from each other.
  • the antenna bracket includes a platform, and the convex arms protrude from the two ends of the platform in a direction away from the mounting surface.
  • an angle between the opposite sides of the convex arm and the platform is greater than or equal to 90 degrees.
  • the antenna bracket further includes a leg for supporting the platform and fixed to the mounting surface.
  • leg protrudes away from the convex arm from the platform.
  • the leg is provided with a connecting portion away from the end of the platform, and the leg passes The connecting portion is fixed to the mounting surface.
  • the platform is provided with a sliding slot, and a sliding block capable of sliding along the sliding slot is disposed in the sliding slot, and the sliding block is provided with a through hole.
  • the antenna holder further includes another convex arm, and the position between the other convex arm and the two convex arms is relatively fixed.
  • a positioning module includes a carrier phase difference system and the antenna bracket, and the carrier phase difference system includes a positioning antenna, and the positioning antennas are respectively fixed on the carrying platform.
  • the carrier phase difference system further includes a processing module and a communication module, and the processing module and the communication module are mounted on the antenna bracket.
  • processing module is electrically connected to the positioning antenna
  • communication module is electrically connected to the processing module
  • the communication module is configured to receive data sent by a reference station and/or send data to the reference station.
  • the distance between the centers of the positioning antennas is greater than or equal to 280 mm.
  • An unmanned aerial vehicle includes a fuselage, a flight control module fixed to the airframe, and the positioning module, wherein the airframe includes the mounting surface, and the positioning module is mounted on the flight control module on.
  • the positioning antenna is symmetrical about a central axis of the fuselage.
  • flight control module is electrically connected to the processing module.
  • a linear distance of each of the positioning antennas relative to the flight control module is greater than or equal to 160 mm.
  • the drone further includes a machine arm and a power package disposed at a distal end of the arm.
  • the communication module receives data transmitted by the reference station.
  • the processing module calculates the orientation of the drone according to the signal received by the two positioning antennas and the data sent by the reference station received by the communication module.
  • the processing module calculates the posture of the drone according to the signal received by the three positioning antennas and the data sent by the reference station received by the communication module.
  • a drone that includes:
  • the fuselage has a mounting surface
  • a positioning module fixed to the mounting surface and mounted on the flight control module
  • the positioning module includes an antenna bracket and a carrier phase difference system
  • the antenna bracket includes a platform and two convex arms protruding from the opposite sides of the platform in a direction away from the mounting surface and relatively fixedly positioned.
  • a carrier is disposed at an end of each of the protruding arms away from the mounting surface
  • the carrier phase difference system includes a processing module, a communication module, and two positioning antennas
  • the processing module and the communication module are fixed On the platform, each of the positioning antennas is corresponding to one of the carrying stations, and is fixed on the corresponding carrying platform
  • the communication module and the positioning antenna are electrically connected to the processing module.
  • the processing module calculates an orientation of the drone according to a signal received by the positioning antenna and data sent by the reference station received by the communication module.
  • the antenna bracket, the positioning module and the drone provided by the present invention provide a convex arm protruding from a direction away from the drone, and the position of the convex arm is relatively fixed.
  • the arm is disposed away from the end of the drone with a carrying platform, wherein the carrying platform can ensure a certain distance between the positioning antennas of the positioning module fixed thereon, thereby ensuring the positioning mode
  • the group calculates the accuracy of the orientation or posture of the drone.
  • the carrying platform can reduce the electromagnetic radiation interference formed by the flight control and the electric adjustment system of the drone to the positioning antenna of the positioning module, thereby improving the positioning accuracy.
  • FIG. 1 is a perspective view of an antenna mount provided by an embodiment of the present invention.
  • FIG. 3 is a front elevational view of the positioning module shown in FIG. 2.
  • FIG. 4 is a perspective view of a drone provided in an embodiment of the present invention.
  • a component when referred to as being "fixed” to another component, it can be directly on the other component or the component can be present.
  • a component When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • a component When a component is considered to be “set to” another component, it can be placed directly on another component or possibly with a centered component.
  • the upper and lower orientation terms appearing in this embodiment are after the positioning module is installed in the drone, and the normal running posture of the drone is used as a reference, and should not be limited thereto. .
  • the positioning module 10 provided by the embodiment of the present invention includes an antenna bracket 11 and a carrier phase difference system 15 mounted on the antenna bracket 11 .
  • the antenna bracket 11 is fixed on a mounting surface.
  • the antenna bracket 11 includes a leg 12, a platform 13 and a convex arm 14.
  • the antenna bracket 11 includes four legs 12 , one platform 13 and two convex arms 14 .
  • the number of the legs 12 may also be two, three, six, eight, etc. according to design requirements; the convex arms 14 may also be three, four, five, six, etc. Not limited to this.
  • One end of the leg 12 is fixed to the mounting surface, and the other end is fixed to the platform 13 . Said The feet 12 are used to support the platform 13.
  • the leg 12 extends downward from the platform 13 .
  • a connecting portion 121 is disposed at an end of the leg 12 away from the platform 13 .
  • the leg 12 is fixed to the mounting surface by the connecting portion 121.
  • the platform 13 is substantially in the shape of a square plate.
  • the platform 13 is provided with a sliding slot 131.
  • the chutes 131 are substantially crisscrossed. It can be understood that in other embodiments, the platform 13 may also be a polygon such as a circle or a triangle, a pentagon, a hexagon, or the like, and is not limited thereto.
  • a slider 132 slidable along the sliding slot 131 is disposed in the sliding slot 131.
  • the slider 132 is provided with a through hole 1321 penetrating therethrough. The through hole 1321 is used for the power supply connection line to be inserted, and the position of the electrical connection line can be adjusted by sliding the slider 132.
  • the number of the chutes 131 is two. It can be understood that in other embodiments, the number of the chutes 131 can be adjusted accordingly according to the number of electrical connection lines.
  • the platform 13 is further provided with a plurality of through holes 133 for heat dissipation.
  • the convex arm 14 is fixed to the platform 13.
  • the convex arms 14 extend from opposite sides of the platform 13 in a direction away from the legs 12. Specifically, in the embodiment, the convex arms 14 are extended from opposite sides of the longitudinal direction of the platform 13 . In the present embodiment, the positions of the two of the convex arms 14 are relatively fixed.
  • a carrier 141 is disposed at an end of each of the convex arms 14 away from the platform 13. The angle between the opposite sides of the convex arm 14 and the platform 13 is greater than or equal to 90 degrees to increase the distance between the loading platforms 141.
  • the opposite sides of the convex arm 14 are equal to the angle of the platform 13 and are both greater than 90 degrees.
  • the carrier 141 is substantially disk-shaped.
  • the carrier 141 is substantially parallel to the platform 13.
  • the two loading platforms 141 are at the same height.
  • the stage 141 at the end of one of the convex arms 14 and the stage 141 at the end of the other convex arm 14 extend in a direction away from each other.
  • the carrying platform 141 may also have other shapes such as a triangle, a quadrangle, a hexagon, and the like.
  • the carrying platform 141 can also be disposed at an angle to the platform 13.
  • the carrier phase difference system 15 includes a positioning antenna 16, a processing module 17, and a communication module 18.
  • the positioning antennas 16 are two.
  • the processing module 17 is one.
  • the communication module 18 is one.
  • the positioning antenna 16, the processing module 17 and the The communication module 18 can be multiple, and is not limited thereto.
  • Each of the positioning antennas 16 corresponds to one of the carrying platforms 141 and is fixed to the corresponding carrying platform 141.
  • the distance between the centers of the two positioning antennas 16 is greater than or equal to 280 mm. In this embodiment, the distance between the centers of the two positioning antennas 16 is 320 mm.
  • the processing module 17 is fixed to the platform 13.
  • the processing module 17 is electrically connected to the positioning antenna 16 .
  • the communication module 18 is fixed on the platform 13 and electrically connected to the processing module 17.
  • the carrier phase difference system 15 also includes a reference station (not shown).
  • the communication module 18 is configured to wirelessly communicate with the reference station, receive data sent by the reference station, and/or transmit data to the reference station.
  • the positions of the three convex arms 14 are relatively fixed and are fixed on the platform 13 .
  • a loading platform 141 is disposed at an end of each of the convex arms 14 away from the platform 13.
  • the lines between the two convex arms 14 are surrounded by a triangle.
  • the connecting line between the two convex arms 14 encloses an equilateral triangle.
  • the positioning antennas 16 are three. Each of the positioning antennas 16 is respectively fixed to one of the carrying platforms 141.
  • processing module 17 and the communication module 18 can be integrated.
  • an embodiment of the present invention further provides a drone 100 including a fuselage 21 , an arm 22 , a power package 23 , a flight control module 24 , and the positioning module 10 .
  • the body 21 includes a mounting surface 211 for mounting the positioning module 10.
  • the arm 22 is coupled to the body 21.
  • the number of the arms 22 is six.
  • the arm 22 extends outward from the body 21 .
  • Each two adjacent arms 22 are equally spaced apart by an arc.
  • the arm 22 can also be two, three, four, eight, etc., and is not limited thereto.
  • the power pack 23 is fixed to an end of the arm 22 away from the body 21.
  • the power package 23 includes a propeller 231 and a driving member 232.
  • the driving member 232 is configured to drive the propeller 231 to rotate.
  • the driving member 232 can be a motor or an engine or the like.
  • the flight control module 24 is fixed to the airframe 21 for controlling the flight of the drone 100 Row.
  • the flight control module 24 is electrically connected to the processing module 17 of the positioning module 10 .
  • the flight control module 24 is electrically connected to the processing module 17 through an electrical connection line (not shown).
  • the electrical connection line is pierced through the through hole 1321 of the slider 132.
  • the positioning module 10 is fixedly mounted on the mounting surface 211.
  • the positioning module 10 is mounted on the flight control module 24 .
  • the positioning module 10 is fixedly mounted on the mounting surface 211 by a connecting portion 121 of its leg 12 .
  • the positioning antennas 16 are two, and the two positioning antennas 16 of the positioning module 10 are symmetric about the central axis of the drone 100.
  • the processing module 17 calculates the orientation of the drone 100 by combining the signals received by the two positioning antennas 16 and the data transmitted by the reference station received by the communication module 18.
  • the two positioning antennas 16 of the positioning module 10 may not be symmetric about the central axis of the drone 100, as long as the two positioning antennas 16 are relatively fixed.
  • the processing module 17 combines signals received by the three positioning antennas 16 and the reference station received by the communication module 18. Data, the posture of the drone 100 is calculated. Alternatively, one of the three positioning antennas 16 is used for other additional functions.
  • the support platform 141 and the platform 13 can be hollowed out under the premise of ensuring the support strength, and the convex arm 14 and the legs can be hollow design, which is convenient on the one hand.
  • the insertion of the electrical connection line; on the other hand, the weight of the positioning module 10 can be alleviated, thereby facilitating the flight of the drone 100.
  • the linear distances of the positioning antennas 16 on the two carrying platforms 141 with respect to the flight control module 24 are equal, and both are greater than or equal to 160 mm. Specifically, the linear distance between the positioning antenna 16 on the two carrying platforms 141 relative to the flight control module 24 is 180 mm.
  • the linear distances of the positioning antennas 16 on the two loading platforms 141 with respect to the flight control module 24 may be equal, as long as the positions of the two loading platforms 141 are relatively fixed. And the linear distance from the flight control module 24 is greater than or equal to 160 mm.
  • the antenna bracket, the positioning module and the drone provided by the present invention are
  • the antenna bracket includes a convex arm protruding away from the drone, the convex arm is relatively fixed in position, and the convex arm is disposed away from the end of the drone with a carrying platform, the carrying The station can ensure a certain distance between the positioning antennas of the positioning module fixed thereon, thereby ensuring the accuracy of the orientation or posture of the unmanned aerial vehicle calculated by the positioning module.
  • the carrying platform can reduce the electromagnetic radiation interference formed by the flight control and the electric adjustment system of the drone to the positioning antenna of the positioning module, thereby improving the positioning accuracy.
  • the number can be increased.
  • the distance between the two positioning antennas fixed on the carrying platform is greatly increased, thereby improving the reliability of differential signal calculation.
  • the angle between each of the convex arms and the platform is greater than or equal to 90 degrees, the distance between the two positioning antennas fixed on the carrying platform can be increased, thereby improving the reliability of the differential signal calculation. Sex.

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Astronomy & Astrophysics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

一种天线支架(11)，固定于一安装面(211)上，所述天线支架(11)包括两个或多个位置相对固定的凸臂(14)，每个所述凸臂(14)远离所述安装面(211)的一端设置有承载台(141)。本发明还涉及一种定位模组(10)及无人机(100)。

Description

天线支架、定位模组及无人机 技术领域
本发明涉及无人机领域，尤其涉及一种天线支架、定位模组及无人机。
背景技术
载波相位差分技术是实时处理两个测站载波相位观测量的差分方法，将基准站采集的载波相位发给用户接收机，进行求差解算坐标以定位。载波相位差分因技术需要，通常要求在待定位物上安装一个或多个与基准站配合的定位天线。将载波相位差分技术运用到无人机上面，可以极大的提高无人机的定位精度。然而，若将定位模组安装在无人机上，需要保证天线之间的距离，否则无法保证定位模组计算所得的无人机的朝向或姿态的精准性。此外，定位模组的定位天线易受到无人机的飞控、电调系统产生的电磁辐射干扰，而影响定位精度。
发明内容
有鉴于此，有必要提供一种解决上述问题的天线支架、定位模组及无人机。
一种天线支架，固定于一安装面上，所述天线支架包括两个位置相对固定的凸臂，每个所述凸臂远离所述安装面的一端设置有承载台。
进一步地，所述承载台处于同一高度。
进一步地，所述承载台沿远离彼此的方向延伸设置。
进一步地，所述天线支架包括一平台，所述凸臂自所述平台的两端向远离所述安装面的方向凸设。
进一步地，所述凸臂相向侧与所述平台的夹角均大于或等于90度。
进一步地，所述天线支架还包括用于支撑所述平台，并固接于所述安装面的支脚。
进一步地，所述支脚自所述平台背离所述凸臂凸设。
进一步地，所述支脚远离所述平台的端部设置有连接部，所述支脚通过 所述连接部固接于所述安装面。
进一步地，所述平台开设有滑槽，所述滑槽内设置有能够沿所述滑槽滑动的滑块，所述滑块开设有贯穿孔。
进一步地，所述天线支架还包括另一凸臂，所述另一凸臂与所述两个凸臂之间的位置相对固定。
进一步地，三个所述凸臂两两之间的连线围成一个等边三角形。
一种定位模组，包括载波相位差分系统及上述天线支架，所述载波相位差分系统包括定位天线，所述定位天线分别固定于所述承载台上。
进一步地，所述载波相位差分系统还包括处理模块及通信模块，所述处理模块及通信模块安装在所述天线支架上。
进一步地，所述处理模块电性连接至所述定位天线，所述通信模块电性连接至所述处理模块。
进一步地，所述通信模块用于接收一基准站发送的数据及/或发送数据给所述基准站。
进一步地，所述定位天线的中心之间的距离大于或等于280mm。
一种无人机，包括机身，固定于所述机身的飞控模块，及上述定位模组，所述机身包括所述安装面，所述定位模组架设于所述飞控模块之上。
进一步地，所述定位天线关于所述机身的中轴线对称。
进一步地，所述飞控模块与所述处理模块电性连接。
进一步地，每个所述定位天线相对于所述飞控模块的直线距离均大于或等于160mm。
进一步地，所述无人机还包括机臂及设置于所述机臂远端的动力套装。
进一步地，所述通信模块接收所述基准站发送的数据。
进一步地，所述处理模块根据所述两个定位天线接收的信号和所述通信模块接收到的所述基准站发送的数据，计算所述无人机的朝向。
进一步地，所述处理模块根据所述三个定位天线接收的信号和所述通信模块接收到的所述基准站发送的数据，计算所述无人机的姿态。
一种无人机，包括：
机身，具有一安装面；
飞控模块，固定于所述机身；及
定位模组，固定于所述安装面且架设在所述飞控模块之上；
其中，所述定位模组包括天线支架及载波相位差分系统，所述天线支架包括一个平台及自所述平台相对两侧沿远离所述安装面方向凸设且位置相对固定的两个凸臂，每个所述凸臂远离所述安装面的端部设置有承载台，所述载波相位差分系统包括一个处理模块、一个通信模块及两个定位天线，所述处理模块及所述通信模块均固定于所述平台上，每个所述定位天线与一所述承载台对应，并固定在对应的所述承载台上，所述通信模块及所述定位天线均与所述处理模块电性连接，所述处理模块根据所述定位天线接收的信号和所述通信模块接收到的所述基准站发送的数据，计算所述无人机的朝向。
相对于现有技术，本发明提供的天线支架、定位模组及无人机，由于所述天线支架包括向远离所述无人机的方向凸设的凸臂，所述凸臂的位置相对固定，且所述凸臂远离所述无人机的端部设置有承载台，所述承载台可以保证固设于其上的所述定位模组的定位天线之间间隔一定距离，从而保证定位模组计算所得的无人机的朝向或姿态的精准性。另外，所述承载台可减小无人机的飞控、电调系统对所述定位模组的定位天线形成的电磁辐射干扰，进而提升定位精度。
附图说明
图1是本发明实施方式提供的天线支架的立体图。
图2是本发明实施方式提供的定位模组的立体图。
图3是图2所示的定位模组的正视图。
图4是本发明实施方式中提供的无人机的立体图。
主要元件符号说明
定位模组                      10
天线支架                      11
载波相位差分系统              15
支脚                          12
平台                          13
凸臂                          14
连接部                        121
滑槽                          131
滑块                          132
穿孔                          1321
通孔                          133
承载台                        141
定位天线                      16
处理模块                      17
通信模块                      18
无人机                        100
机身                          21
机臂                          22
动力套装                      23
飞控模块                      24
安装面                        211
螺旋桨                        231
驱动件                        232
如下具体实施方式将结合上述附图进一步说明本发明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
另外，本实施方式中出现的上、下等方位用语是以所述定位模组安装于所述无人机以后，以所述无人机的常规运行姿态为参考，而不应以此为限。
请一并参阅图1、图2及图3，本发明实施方式提供的定位模组10包括天线支架11及安装在所述天线支架11上的载波相位差分系统15。
所述天线支架11固定于一安装面上。所述天线支架11包括支脚12、平台13及凸臂14。具体在本实施方式中，所述天线支架11包括四根支脚12、一个平台13及两个凸臂14。
可以理解，其他实施方式中，根据设计需要，所述支脚12的数目也可为二、三、六、八等；所述凸臂14也可为三个、四个、五个、六个等，并不以此为限。
所述支脚12一端固接于所述安装面，另一端与所述平台13固接。所述 支脚12用于支撑所述平台13。所述支脚12自所述平台13向下延伸设置。所述支脚12远离所述平台13的端部设置有连接部121。所述支脚12通过所述连接部121固接于所述安装面。
所述平台13大致呈方形平板状。所述平台13开设有滑槽131。本实施方式中，所述滑槽131大致呈十字交叉状。可以理解，其他实施方式中，所述平台13也可呈圆形或三角形、五边形、六边形等多边形，并不以此为限。所述滑槽131内设置有可沿所述滑槽131滑行的滑块132。所述滑块132开设有上下贯穿的穿孔1321。所述穿孔1321用于供电连接线穿设，进而可通过滑动所述滑块132调整电连接线的位置。具体在本实施方式中，所述滑槽131为两个。可以理解，其他实施方式中，所述滑槽131的数目可依据电连接线的数目做相应调整。本实施方式中，所述平台13还开设有多个用于散热的通孔133。
所述凸臂14固定于所述平台13上。所述凸臂14自所述平台13的相对两侧沿背离所述支脚12的方向延伸设置。具体在本实施方式中，所述凸臂14自所述平台13长边方向的相对两侧延伸设置。本实施方式中，两个所述凸臂14的位置相对固定。每个所述凸臂14远离所述平台13的端部设置有承载台141。所述凸臂14相向侧与所述平台13之间的夹角均大于或等于90度，以增大所述承载台141之间的距离。
具体在本实施方式中，所述凸臂14相向侧与所述平台13所呈夹角相等，且均大于90度。所述承载台141大致呈圆盘状。所述承载台141与所述平台13大致平行。具体到本实施方式中，两个所述承载台141处于同一高度。位于其中一个所述凸臂14的端部的承载台141与位于另一凸臂14的端部的承载台141沿远离彼此的方向延伸设置。
可以理解，其他实施方式中，所述承载台141也可呈三角形、四边形、六边形等其他形状。
可以理解，所述承载台141也可与所述平台13呈一定角度设置。
所述载波相位差分系统15包括定位天线16、处理模块17及通信模块18。本实施方式中，所述定位天线16为两个。所述处理模块17为一个。所述通信模块18为一个。
可以理解，其他实施方式中，所述定位天线16、所述处理模块17及所 述通信模块18均可为多个，并不以此为限。
每个所述定位天线16与一个所述承载台141对应，并固定于对应的所述承载台141上。本实施方式中，两个所述定位天线16的中心之间的距离大于或等于280mm。本实施方式中，所述两个所述定位天线16的中心之间的距离为320mm。
所述处理模块17固定于所述平台13上。所述处理模块17与所述定位天线16电性连接。所述通信模块18固定于所述平台13上，并与所述处理模块17电性连接。所述载波相位差分系统15还包括基准站(图未示)。所述通信模块18用于与所述基准站无线通信，接收所述基准站发送的数据及/或发送数据给所述基准站。
可以理解，其他实施方式中，当所述凸臂14为三个时，所述三个凸臂14的位置相对固定，且均固定于所述平台13上。每个所述凸臂14远离所述平台13的端部均设置有承载台141。所述三个凸臂14两两之间的连线围成一个三角形。具体地，所述三个凸臂14两两之间的连线围成一个等边三角形。此时，所述定位天线16为三个。每个所述定位天线16分别固定于一个所述承载台141上。
可以理解，其他实施方式中，所述处理模块17与所述通信模块18可整合为一体。
请参阅图4，本发明实施方式还提供一种无人机100，包括机身21、机臂22、动力套装23、飞控模块24及所述定位模组10。
所述机身21包括一个安装面211，用于安装所述定位模组10。
所述机臂22与所述机身21相连接。本实施方式中，所述机臂22为六个。所述机臂22自所述机身21向外延伸设置。每两个相邻的机臂22之间间隔相同的弧度。
可以理解，其他实施方式中，所述机臂22也可为两个、三个、四个、八个等，并不以此为限。
所述动力套装23固定在所述机臂22远离所述机身21的端部。所述动力套装23包括螺旋桨231及驱动件232。所述驱动件232用于驱动所述螺旋桨231转动。所述驱动件232可为电机或发动机等。
所述飞控模块24固定于所述机身21上，用于控制所述无人机100的飞 行。所述飞控模块24与所述定位模组10的处理模块17电性连接。所述飞控模块24通过电连接线(图未示)与所述处理模块17电性连接。所述电连接线经所述滑块132的穿孔1321穿设。
所述定位模组10固定地安装在所述安装面211上。本实施方式中，所述定位模组10架设在所述飞控模块24之上。所述定位模组10通过其支脚12的连接部121固定地安装在所述安装面211上。本实施方式中，所述定位天线16为两个，所述定位模组10的两个定位天线16关于所述无人机100的中轴线对称。所述处理模块17结合两个所述定位天线16接收的信号和所述通信模块18接收到的所述基准站发送的数据，计算得到所述无人机100的朝向。
可以理解，其他实施方式中，所述定位模组10的两个定位天线16也可不关于所述无人机100的中轴线对称，只要保证两个所述定位天线16之间相对固定即可。
可以理解，其他实施方式中，当所述定位天线16为三个时，所述处理模块17结合三个所述定位天线16接收的信号和所述通信模块18接收到的所述基准站发送的数据，计算得到所述无人机100的姿态。或者，三个所述定位天线16中的一个用于其他附加功能。
可以理解，其他实施方式中，在保证支撑强度的前提下，所述承载台141、所述平台13均可作镂空设计，所述凸臂14及所述支脚均可作中空设计，一方面方便电连接线的穿设；另一方面可以减轻所述定位模组10的重量，从而利于所述无人机100的飞行。
本实施方式中，位于两个所述承载台141上的定位天线16相对于所述飞控模块24的直线距离相等，且均大于或等于160mm。具体地，位于两个所述承载台141上的定位天线16相对于所述飞控模块24的直线距离为180mm。
可以理解，其他实施方式中，位于两个所述承载台141上的定位天线16相对于所述飞控模块24的直线距离相等也可不同，只要保证两个所述承载台141的位置相对固定并且分别与所述飞控模块24直线距离大于或等于160mm即可。
相对于现有技术，本发明提供的天线支架、定位模组及无人机，由于所 述天线支架包括向远离所述无人机的方向凸设的凸臂，所述凸臂的位置相对固定，且所述凸臂远离所述无人机的端部设置有承载台，所述承载台可以保证固设于其上的所述定位模组的定位天线之间间隔一定的距离，从而保证定位模组计算所得的无人机的朝向或姿态的精准性。另外，所述承载台可减小无人机的飞控、电调系统对所述定位模组的定位天线形成的电磁辐射干扰，进而提升定位精度。
另外，由于所述两个凸臂的位置相对固定，且位于其中一个所述凸臂端部的承载台与位于另一所述凸臂端部的承载台沿相背的方向延伸设置，可增大固定在所述承载台上的两个定位天线之间的距离，进而提高差分信号计算的可靠性。
另外，由于每个所述凸臂与所述平台的夹角均大于或等于90度，可增大固定在所述承载台上的两个定位天线之间的距离，进而提高差分信号计算的可靠性。
对于本领域的普通技术人员来说，可以根据本发明的技术构思做出其它各种相应的改变与变形，而所有这些改变与变形都应属于本发明权利要求的保护范围。

Claims (25)

  1. 一种天线支架，固定于一安装面上，所述天线支架包括两个位置相对固定的凸臂，每个所述凸臂远离所述安装面的一端设置有承载台。
  2. 如权利要求1所述的天线支架，其特征在于，所述承载台处于同一高度。
  3. 如权利要求1所述的天线支架，其特征在于，所述承载台沿远离彼此的方向延伸设置。
  4. 如权利要求1所述的天线支架，其特征在于，所述天线支架包括一平台，所述凸臂自所述平台的两端向远离所述安装面的方向凸设。
  5. 如权利要求4所述的天线支架，其特征在于，所述凸臂相向侧与所述平台的夹角均大于或等于90度。
  6. 如权利要求4所述的天线支架，其特征在于，所述天线支架还包括用于支撑所述平台，并固接于所述安装面的支脚。
  7. 如权利要求6所述的天线支架，其特征在于，所述支脚自所述平台背离所述凸臂凸设。
  8. 如权利要求6所述的天线支架，其特征在于，所述支脚远离所述平台的端部设置有连接部，所述支脚通过所述连接部固接于所述安装面。
  9. 如权利要求4所述的天线支架，其特征在于，所述平台开设有滑槽，所述滑槽内设置有能够沿所述滑槽滑动的滑块，所述滑块开设有贯穿孔。
  10. 如权利要求1中所述的天线支架，其特征在于，所述天线支架还包括另一凸臂，所述另一凸臂与所述两个凸臂之间的位置相对固定。
  11. 如权利要求10所述的天线支架，其特征在于，三个所述凸臂两两之间的连线围成一个等边三角形。
  12. 一种定位模组，包括载波相位差分系统及权利要求1-11任一项所述的天线支架，所述载波相位差分系统包括定位天线，所述定位天线分别固定于所述承载台上。
  13. 如权利要求12所述定位模组，其特征在于，所述载波相位差分系统还包括处理模块及通信模块，所述处理模块及通信模块安装在所述天线支架上。
  14. 如权利要求13所述定位模组，其特征在于，所述处理模块电性连接至所述定位天线，所述通信模块电性连接至所述处理模块。
  15. 如权利要求14所述定位模组，其特征在于，所述通信模块用于接收一基准站发送的数据及/或发送数据给所述基准站。
  16. 如权利要求12所述定位模组，其特征在于，所述定位天线的中心之间的距离大于或等于280mm。
  17. 一种无人机，包括机身，固定于所述机身的飞控模块，及权利要求12-19任一项所述的定位模组，所述机身包括所述安装面，所述定位模组架设于所述飞控模块之上。
  18. 如权利要求17所述的无人机，其特征在于，所述定位天线关于所述机身的中轴线对称。
  19. 如权利要求17所述的无人机，其特征在于，所述飞控模块与所述处理模块电性连接。
  20. 如权利要求17所述的无人机，其特征在于，每个所述定位天线相对于所述飞控模块的直线距离均大于或等于160mm。
  21. 如权利要求17所述的无人机，其特征在于，所述无人机还包括机臂及设置于所述机臂远端的动力套装。
  22. 如权利要求17所述的无人机，其特征在于，所述通信模块接收所述基准站发送的数据。
  23. 如权利要求22所述的无人机，其特征在于，所述处理模块根据所述两个定位天线接收的信号和所述通信模块接收到的所述基准站发送的数据，计算所述无人机的朝向。
  24. 如权利要求22所述的无人机，其特征在于，所述处理模块根据所述三个定位天线接收的信号和所述通信模块接收到的所述基准站发送的数据，计算所述无人机的姿态。
  25. 一种无人机，包括：
    机身，具有一安装面；
    飞控模块，固定于所述机身；及
    定位模组，固定于所述安装面且架设在所述飞控模块之上；
    其中，所述定位模组包括天线支架及载波相位差分系统，所述天线支架包括一个平台及自所述平台相对两侧沿远离所述安装面方向凸设且位置相对固定的两个凸臂，每个所述凸臂远离所述安装面的端部设置有承载台，所 述载波相位差分系统包括一个处理模块、一个通信模块及两个定位天线，所述处理模块及所述通信模块均固定于所述平台上，每个所述定位天线与一所述承载台对应，并固定在对应的所述承载台上，所述通信模块及所述定位天线均与所述处理模块电性连接，所述处理模块根据所述定位天线接收的信号和所述通信模块接收到的所述基准站发送的数据，计算所述无人机的朝向。
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