WO2019015370A1 - Dispositif de positionnement de véhicule aérien sans pilote, système de commande au sol, système de positionnement et véhicule aérien sans pilote - Google Patents

Dispositif de positionnement de véhicule aérien sans pilote, système de commande au sol, système de positionnement et véhicule aérien sans pilote Download PDF

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Publication number
WO2019015370A1
WO2019015370A1 PCT/CN2018/084445 CN2018084445W WO2019015370A1 WO 2019015370 A1 WO2019015370 A1 WO 2019015370A1 CN 2018084445 W CN2018084445 W CN 2018084445W WO 2019015370 A1 WO2019015370 A1 WO 2019015370A1
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WO
WIPO (PCT)
Prior art keywords
drone
module
cellular
positioning
location information
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Application number
PCT/CN2018/084445
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English (en)
Chinese (zh)
Inventor
刘敬文
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深圳市道通智能航空技术有限公司
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Application filed by 深圳市道通智能航空技术有限公司 filed Critical 深圳市道通智能航空技术有限公司
Publication of WO2019015370A1 publication Critical patent/WO2019015370A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information

Definitions

  • the present application relates to the field of drones, and in particular, to a drone positioning device, a drone ground control system, a drone positioning system, and a drone.
  • drones have been widely used in military and civilian fields.
  • military applications drones are mainly used for reconnaissance, combat, and drones.
  • civilian applications drones can be used in different industries, including aerial photography, agriculture, plant protection, express transportation, disaster relief, surveying and so on.
  • the drone may crash during flight due to weather or damage to the drone itself. For some more expensive drones or drones carrying heavy loads, the crash will cause heavy losses to drone users. If you can find the location where the drone crashed, it will help to recover the undamaged parts or loads of the drone, and to some extent recover the user's loss.
  • An object of the embodiments of the present invention is to provide a drone positioning device, a drone ground control system, a drone positioning system, and a drone that can help a user to know the position information of the drone.
  • an embodiment of the present invention provides a drone positioning device, where the device includes:
  • a positioning module configured to obtain location information of the drone from a positioning satellite
  • control unit configured to read the location information from the positioning module
  • a cellular-based narrowband Internet of Things module is configured to transmit the location information to a cellular-based narrowband IoT base station to cause the cellular-based narrowband IoT base station to transmit the location information to a user terminal.
  • the positioning module is further configured to periodically obtain location information of the drone from the positioning satellite when receiving the startup signal of the drone.
  • the device further includes:
  • it also includes:
  • a power switching module configured to detect an operating state of the drone, and control, according to the working state, a power supply module of the power module or the drone as the positioning module, a control unit, and a narrow band based on a cell
  • the IoT module is powered.
  • the power switching module is further configured to determine, when the working state of the drone is normal, that the power supply module of the drone is the positioning module, the control unit, and a narrow band based on a cell.
  • the IoT module is powered.
  • the power switching module is further configured to: when the working state of the drone is abnormal, determine that the power module supplies power to the positioning module, the control unit, and the cellular-based narrowband IoT module. .
  • the power switching module is further configured to send an operating state of the drone to the control unit;
  • the control unit is further configured to control the acquiring frequency of the location information by the positioning module according to the working state of the drone.
  • control unit is further configured to: when the working state of the drone is abnormal, control the cell-based narrowband Internet of Things module to send alert information to the cell-based narrowband IoT base station, So that the cell-based narrowband Internet of Things base station transmits the alert information to the user terminal;
  • the warning information is used to alert the working state of the drone that the working state is abnormal.
  • control unit is an embedded microcontroller.
  • the location information includes: longitude information, latitude information, and altitude information.
  • an embodiment of the present invention provides a drone, and the drone includes the above-described drone positioning device.
  • the UAV positioning device is located inside the casing of the UAV.
  • the UAV positioning device is located outside the casing of the UAV.
  • the UAV positioning device is bound to a load device outside the casing of the UAV.
  • an embodiment of the present invention provides a drone ground control system, including:
  • a cellular-based narrow-band IoT server configured to receive location information of the UAV transmitted by the UAV positioning device through the cellular-based narrowband IoT base station, and send the location information to the user terminal;
  • a user terminal configured to receive the location information sent by the cellular-based narrowband IoT server through a cellular-based narrowband Internet of Things, and display the location information.
  • the cell-based narrowband IoT server is further configured to save location information of the UAV, and when receiving a request message sent by the user terminal for location information of the UAV, Sending location information of the drone to the user terminal.
  • the cell-based narrowband IoT server is further configured to map a flight path of the drone according to the location information, and send the flight track to the user terminal.
  • the cell-based narrowband IoT server is further configured to map a flight path of the drone according to the location information.
  • the terminal device is further configured to draw a flight trajectory of the drone according to the location information.
  • an embodiment of the present invention provides a UAV positioning system, where the system includes:
  • a drone ground control system comprising a cellular based narrowband IoT server and a user terminal.
  • the UAV positioning device, the cellular-based narrowband IoT base station and the UAV ground control system communicate via a cellular based narrowband Internet of Things;
  • the drone positioning device includes any one of the above-mentioned UAV positioning devices
  • the UAV ground control system includes any of the above ground control systems.
  • the embodiment of the present invention accesses a cellular-based narrowband Internet of Things base station through a cellular-based narrowband Internet of Things module, thereby connecting to a cellular-based narrowband Internet of Things, and through a cellular-based narrowband Internet of Things
  • the location information of the drone is sent to the designated destination so that the drone user knows the location of the drone.
  • the user can quickly find the location where the drone crashed, which is beneficial to recover the undamaged parts or loads of the drone and restore the loss to the user to a certain extent.
  • FIG. 1 is a schematic diagram of an application scenario of an embodiment of the present invention.
  • FIG. 2 is a schematic structural view of an embodiment of a drone positioning device of the present invention
  • FIG. 3 is a schematic structural view of an embodiment of a drone positioning device of the present invention.
  • FIG. 4 is a schematic structural view of an embodiment of a drone ground control system of the present invention.
  • Figure 5 is a schematic view showing the structure of an embodiment of the drone positioning system of the present invention.
  • FIG. 1 is a schematic diagram of an application scenario of a drone positioning device, a drone ground control system, a drone positioning system, and a drone according to an embodiment of the present invention.
  • the application scenario includes a drone 30 and The drone ground control system 20, the drone 30 includes a drone positioning device 10.
  • the UAV positioning device 10 is configured to obtain the position information of the UAV 30 by positioning the satellite, and then transmitting the position information to the UAV ground control through a Narrow Band Internet of Things (NB-IoT).
  • NB-IoT Narrow Band Internet of Things
  • System 20 is such that the drone user knows the location of the drone 30 through the drone ground control system 20.
  • positioning satellites such as Global Positioning System (GPS) satellites and the like.
  • GPS Global Positioning System
  • the application scenario may further include a cellular-based narrowband IoT base station, and the UAV positioning device 10 communicates with the UAV ground control system 20 through the cellular-based narrowband IoT base station.
  • the narrowband cellular base station may be things second generation mobile communication technology (2 nd Generation, 2G), third generation mobile communication technology (3 rd Generation, 3G), fourth generation mobile communication technology (4 th Generation , 4G), 5G mobile communication technologies (5 th Generation, 5G) or a base station in a predetermined future mobile communication technologies.
  • the base station can be connected to a cellular based narrowband Internet of Things.
  • the UAV positioning device 10 in the UAV 30 and the cellular-based narrow-band IoT base station can realize long-distance communication, for example, to achieve 20 km of signal communication.
  • the UAV positioning device 10 included in the UAV 30 may be installed in the casing of the UAV 30 or may be installed outside the casing of the UAV 30, depending on the inside of the casing of the UAV 30.
  • the accommodation space is determined.
  • the casing of the drone 30 is used to house various systems in the drone, such as a flight control system, a vision system, a power system, and the like. These systems work together to enable autonomous or controlled flight of the drone.
  • the drone positioning device 10 is independently mounted in or outside the casing of the drone 30, which may include an interface to enable communication with other systems included in the drone 30; or it may be independent of The other systems in machine 30 operate independently.
  • the device 10 When the drone positioning device 10 is mounted outside the casing of the drone 30, further, the device 10 can be attached to the load device outside the casing of the drone 30.
  • the drone can use the load device to perform tasks other than flight, such as photographing, sowing, and the like.
  • the UAV positioning device 10 When the UAV positioning device 10 is installed in binding with the load device, accurate information of the load device can be obtained. Further, if the load device is separated from the UAV during flight, the UAV positioning device 10 can be used to obtain The location information is found in the load device.
  • an embodiment of the present invention provides a UAV positioning device, which includes a positioning module 11, a control unit 12, and a Narrow Band Internet of Things (NB). -IoT) module 13.
  • NB Narrow Band Internet of Things
  • the positioning module 11 is configured to obtain the location information of the drone from the positioning satellite; the control unit 12 is connected to the positioning module 11 for reading the location information from the positioning module 11; the NB-IoT module 13 is connected to the control unit 12 And for transmitting the location information to the NB-IoT base station.
  • the positioning module 11 starts to obtain the location information of the drone. For example, after the drone is started, the start signal can be sent to the drone positioning device, and the positioning module 11 can start to obtain the position information of the drone. Before this, the positioning module 11 can be disabled, and the power consumption has been saved. .
  • other positioning modules may be configured in the drone, and the other positioning modules and the positioning module 11 may work simultaneously or cooperate. For example, when the positioning module 11 determines that other positioning modules in the drone are stopped, or when the working state is abnormal, for example, when other positioning modules feedback cannot obtain the position information, the positioning module 11 starts to work.
  • the positioning module 11 can also work according to the control command sent by the control unit 12. For example, the positioning module 11 acquires the location information according to the control command sent by the control unit 12, temporarily sleeps, or stops acquiring the location information. Alternatively, the positioning module 11 can adjust the acquisition frequency of the location signal according to the control command sent by the control unit 12. .
  • the positioning module 11 obtains the location information of the drone from the positioning satellite, and the location information can determine the exact location of the drone on the earth. Specifically, the location information can include the longitude, latitude, and altitude of the drone.
  • the control unit 12 reads the location information from the positioning module 11 and then transmits the location information to the NB-IoT module 13, and the NB-IoT module 13 can transmit the location information of the drone to the designated NB-IoT server through the NB-IoT base station. To let the user know the location of the drone.
  • the control unit 12 can adopt a low power consumption embedded microcontroller to reduce the power consumption of the UAV positioning device.
  • the embodiment of the present invention accesses the NB-IoT base station through the NB-IoT module, thereby connecting to the NB-IoT network, and transmitting the location information of the drone to the designated destination through the NB-IoT network, so that the drone user Know the location of the drone.
  • the user can quickly find the location where the drone crashed, which is beneficial to recover the undamaged parts or loads of the drone and restore the loss to the user to a certain extent.
  • NB-IoT is a new wireless cellular network standard for the Internet of Things. It has a wide coverage of a single base station, low power consumption, high signal-to-noise ratio, low interference, and strong penetrating power. Therefore, the UAV positioning device provided by the embodiment of the present invention can prevent the UAV from being far away from the base station, causing the user to be unable to track the position of the UAV, and the power consumption is low, and the operation can be performed for a long time, thereby preventing the power supply from being Depletion causes the drone to be tracked. Because the NB-IoT network has strong anti-interference ability, it can reduce the situation that the drone cannot be tracked due to signal interference.
  • the UAV positioning device further includes a power module 14 respectively, and the positioning module 11, the control unit 12, and
  • the NB-IoT module 13 is connected to supply power to the positioning module 11, the control unit 12, and the NB-IoT module 13.
  • the power module 14 can be a lithium battery or other dry batteries, batteries, and the like.
  • the UAV positioning device of the embodiment of the present invention uses an independent power supply instead of the main power supply of the UAV, and can still be damaged when the UAV crashes and the main power is damaged or the UAV is turned off.
  • the drone location information is sent to the user to enable the user to find the location of the drone.
  • the UAV positioning device may further include a power switching module, configured to select one of the power module 14 or the power supply module in the UAV to supply power to the UAV positioning device.
  • a power switching module configured to select one of the power module 14 or the power supply module in the UAV to supply power to the UAV positioning device.
  • the power switching module can detect the working state of the drone, and the working state of the drone can be normal or abnormal.
  • the normal working state of the drone can mean that the system is running normally after the drone is turned on;
  • the abnormal working state of the drone means that one of the systems or modules of the drone is not working normally, for example, sending an abnormal signal, etc. .
  • the power supply module of the drone is selected to supply power to the positioning module, the control unit and the NB-IoT module in the unmanned positioning device to save power consumption of the power module. Electricity.
  • the power switching module detects that the working state of the drone is abnormal
  • the power module is selected to supply power to the positioning module, the control unit and the NB-IoT module in the unmanned positioning device to ensure abnormal operation of the main body of the drone.
  • the drone positioning device can work independently of the drone, thereby ensuring that the position information of the drone can be obtained normally for the user to retrieve.
  • the power switching module can detect whether the working state of the drone is normal through a heartbeat signal sent by one or more systems of the drone; for example, the power switching module can periodically receive the corresponding system (such as flying)
  • the heartbeat signal sent by the control system or the power supply module indicates that the working state of the drone is normal, otherwise the working state of the drone is abnormal.
  • the power switching module may further send the result of the detected working state of the drone to the control unit. For example, when the power switching module detects that the working state of the drone is abnormal, the abnormal result is sent to the control unit. And the control unit sends the warning information to the NB-IoT base station through the NB-IOT module, so that the NB-IoT base station sends the warning information to the drone ground control system 20 through the NB-IoT network to prompt the abnormal operation state of the drone. .
  • the NB-IoT server in the drone ground control system receives the location information of the drone sent by the UAV positioning device through the NB-IoT base station, and stores the information. After receiving the warning information sent by the UAV positioning device through the NB-IoT base station, the NB-IoT sends the warning information to the user terminal, so that the user terminal can request the NB-IoT server to retrieve the saved drone. Location information, and analysis of the location information of the drone to search for the drone.
  • the user terminal can obtain the location information of the drone obtained by other positioning modules in real time.
  • the user terminal cannot obtain the location information of the drone obtained by the other positioning module.
  • the drone positioning device can send the warning information to the user terminal through the NB-IoT network, so that The user terminal can continue to obtain the location information of the drone, so that the drone can be searched.
  • control unit may control the acquisition frequency of the location information by the positioning module according to the working state of the drone. Specifically, when the working state of the drone is normal, the control unit may control the positioning module to periodically collect the position information at the first acquisition frequency; when the working state of the drone is abnormal, the control unit may control the positioning module to The second acquisition frequency periodically collects location information. The first acquisition frequency is smaller than the second acquisition frequency.
  • the positioning module in the UAV positioning device obtains the position information of the drone at a higher frequency, and further, the user terminal can acquire more position information, thereby being more precise. Position the drone.
  • the UAV When the UAV is in normal working condition, it can appropriately reduce the acquisition frequency of the position information, thereby reducing the power consumption of the UAV positioning device.
  • control unit in the UAV positioning device can detect the working state of the UAV, and can control the power switching module to select a power module as the UAV positioning device according to the working state thereof. Each module or unit is powered.
  • the embodiment of the invention further provides a drone, which comprises the above-mentioned drone positioning device.
  • the UAV positioning device may be placed outside the UAV, and if the UAV positioning device is not desired to be easily discovered, it may be The drone positioning device is placed inside the drone.
  • the UAV positioning device can also be bound to the load to prevent the drone from being separated from the load during the crash of the drone, and the position of the load cannot be found.
  • the embodiment of the present invention accesses the NB-IoT base station through the NB-IoT module, thereby connecting to the NB-IoT network, and transmitting the location information of the drone to the designated destination through the NB-IoT network, so that the drone user Know the location of the drone.
  • the user can quickly find the location where the drone crashed, which is beneficial to recover the undamaged parts or loads of the drone and restore the loss to the user to a certain extent.
  • an embodiment of the present invention further provides an unmanned aerial vehicle ground control system, which includes an NB-IoT server 21 and a terminal device 22, and the NB-IoT server 21 and the terminal device 22 pass The NB-IoT network or a cellular-based mobile communication network communication connection.
  • the NB-IoT server 21 can connect to the NB-IoT network or connect to the cellular-based mobile communication network, and the NB-IoT base station sets the location of the drone through the NB-IoT network, or the NB-IoT network and the mobile communication network. The information is sent to the NB-IoT server 21.
  • the NB-IoT server 21 receives the location information of the UAV transmitted by the NB-IoT base station and transmits the location information to the terminal device 22 through the NB-IoT network or the cellular-based mobile communication network, and the terminal device 22 receives the NB-IoT server. 21 The location information sent is displayed for the user to view.
  • the terminal device 22 can also perform further processing according to the location information of the drone, for example, generating a flight path of the drone on the map. It is also possible that the NB-IoT server 21 performs further processing based on the location information of the drone, and transmits the processing result to the terminal device 22.
  • the terminal device 22 is, for example, a smart phone, a tablet computer, a personal computer, or the like. Here, the terminal device 22 can be understood as the user terminal in the above embodiment. Further, the terminal device 22 may further include a remote controller that can establish communication with the drone, and can send a remote command to the drone or receive information such as flight data fed back by the drone.
  • the NB-IoT server 21 can store the location information of the UAV sent by the UAV positioning device, and when the terminal device 22 sends a request to the terminal device 22, according to the request, feedback the location of the corresponding UAV. information. In this way, the storage load of the terminal device 22 can be alleviated, and the processing efficiency of the terminal device 22 can be further improved, thereby improving the efficiency of finding the drone.
  • the embodiment of the present invention receives the location information of the UAV transmitted by the NB-IoT base station by using the NB-IoT server 21 and transmits the location information to the terminal device 22 to display the location information on the terminal device 22, thereby making the location unmanned.
  • the user knows the location of the drone. When the drone crashes, the user can quickly find the location where the drone crashed, which is beneficial to recover the undamaged parts or loads of the drone and restore the loss to the user to a certain extent.
  • an embodiment of the present invention further provides a drone positioning system including the above-described drone 30 and the above-described drone ground control system 20.
  • a drone positioning system including the above-described drone 30 and the above-described drone ground control system 20.
  • the drone 30 and the drone ground control system 20 please refer to the above description, and details are not described herein again.
  • the embodiment of the present invention accesses the NB-IoT base station through the NB-IoT module, thereby connecting to the NB-IoT network, and transmitting the location information of the drone to the designated NB-IoT server through the NB-IoT network, and the NB-IoT server After receiving the location information, the location information is sent to the terminal device to display the location information of the drone at the terminal device, so that the drone user knows the location of the drone. When the drone crashes, the user can quickly find the location where the drone crashed, which is beneficial to recover the undamaged parts or loads of the drone and restore the loss to the user to a certain extent.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Astronomy & Astrophysics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Selon certains modes de réalisation, la présente invention concerne le domaine des véhicules aériens sans pilote, et en particulier un dispositif de positionnement de véhicule aérien sans pilote, un système de commande au sol de véhicule aérien sans pilote, un système de positionnement de véhicule aérien sans pilote et un véhicule aérien sans pilote. Le dispositif de positionnement de véhicule aérien sans pilote comprend : un module de positionnement configuré pour obtenir des informations de position du véhicule aérien sans pilote à partir d'un satellite de positionnement ; une unité de commande configurée pour lire les informations de position à partir du module de positionnement ; et un module de l'Internet des objets à bande étroite à base cellulaire configuré pour envoyer les informations de position à une station de base de l'Internet des objets à bande étroite à base cellulaire. Selon les modes de réalisation de la présente invention, l'accès à la station de base de l'Internet des objets à bande étroite à base cellulaire est obtenu au moyen du module de l'Internet des objets à bande étroite basé à base cellulaire, de sorte qu'une connexion à l'Internet des objets à bande étroite à base cellulaire est obtenue, et les informations de position du véhicule aérien sans pilote sont envoyées à une destination nommée au moyen de l'Internet des objets à bande étroite à base cellulaire de sorte qu'un utilisateur du véhicule aérien sans pilote connaisse la position du véhicule aérien sans pilote. Lorsque le véhicule aérien sans pilote se bloque, l'utilisateur peut trouver le site d'accident du véhicule aérien sans pilote rapidement, les parties ou les charges non endommagées du véhicule aérien sans pilote sont plus faciles à récupérer, et la perte de l'utilisateur est récupérée dans une certaine mesure.
PCT/CN2018/084445 2017-07-18 2018-04-25 Dispositif de positionnement de véhicule aérien sans pilote, système de commande au sol, système de positionnement et véhicule aérien sans pilote WO2019015370A1 (fr)

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CN201710585618.2A CN109270561A (zh) 2017-07-18 2017-07-18 无人机定位装置、地面控制系统、定位系统及无人机

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