WO2019119237A1

WO2019119237A1 - Unmanned aerial vehicle and circularly polarized antenna assembly thereof

Info

Publication number: WO2019119237A1
Application number: PCT/CN2017/117033
Authority: WO
Inventors: 云惟旭; 胡孟; 吕超
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-12-18
Filing date: 2017-12-18
Publication date: 2019-06-27
Also published as: CN108521835A; CN108521835B

Abstract

Disclosed in the present invention are an unmanned aerial vehicle and a circularly polarized antenna assembly of the unmanned aerial vehicle. The unmanned aerial vehicle comprises a body, a real-time kinematic (RTK) assembly, and a circularly polarized antenna assembly provided at the top of the body, wherein the circularly polarized antenna assembly is used for receiving a satellite signal, and the RTK assembly is used for determining position information of the unmanned aerial vehicle according to the satellite signal received by the circularly polarized antenna assembly and RTK data obtained from a RTK base station. The unmanned aerial vehicle performs positioning by using RTK technology, and the positioning accuracy is improved. Moreover, the unmanned aerial vehicle in the present embodiment receives a satellite signal by using a circularly polarized antenna, and the circularly polarized antenna is small in size and light in weight, so that the size of the unmanned aerial vehicle is reduced and the endurance of the unmanned aerial vehicle is increased.

Description

Circularly polarized antenna assembly for drones and drones

Technical field

The invention relates to the technical field of drones, in particular to a circularly polarized antenna assembly of a drone and a drone.

Background technique

In recent years, with the rapid development of Unmanned Aerial Vehicle (UAV) technology, drone applications have become more widespread. For example, in the transportation industry, drones are used to transport goods, and in the agricultural field, drones are used to measure farmland, and in the field of surveying and mapping, drones are used for surveying and mapping. In actual use, in order to ensure the cargo supply of the logistics drone, the mapping accuracy of the mapping UAV, etc., the drone needs to be fixed down and fixed to the required exact position. However, the existing UAV has low positioning accuracy and cannot meet the high-precision positioning requirements, and cannot meet the requirements of the refined operation.

Summary of the invention

The invention provides a circularly polarized antenna assembly for a UAV and a UAV, which is used for solving the problem that the UAV cannot obtain high-precision positioning information in the prior art.

A first aspect of the present invention provides a drone, comprising: a fuselage body, a real-time dynamic differential method RTK component, and a circularly polarized antenna assembly disposed on a top of the fuselage body, wherein

The circularly polarized antenna assembly for receiving satellite signals;

The RTK component is configured to determine location information of the drone according to the satellite signal received by the circularly polarized antenna component and the RTK data acquired from the RTK base station.

A second aspect of the present invention provides a circularly polarized antenna assembly of a drone, comprising: a circularly polarized antenna and an antenna signal preprocessing component connected to the circularly polarized antenna, wherein

The circularly polarized antenna is configured to receive a satellite signal;

The pre-processing component includes: a signal separation device, a first processing component, a second processing component, and a signal synthesis device, wherein

The signal separating device is configured to separate the first frequency band and the second frequency band of the satellite signals received by the circularly polarized antenna;

The first processing component is configured to perform a first preset process on the first frequency band satellite signal output by the signal separation device;

The second processing component is configured to perform a second preset process on the second frequency band satellite signal output by the signal separation device;

The signal synthesizing device is configured to synthesize satellite signals output by the first processing component and the second processing component.

The invention provides a circularly polarized antenna assembly for a UAV and a UAV, wherein the UAV includes a fuselage body, an RTK assembly, and a circularly polarized antenna assembly disposed on the top of the fuselage body, and the circularly polarized antenna assembly In order to receive the satellite signal, the RTK component is configured to determine the position information of the drone based on the satellite signal received by the circularly polarized antenna assembly and the RTK data acquired from the RTK base station. That is to say, the unmanned aerial vehicle of the embodiment can adopt the circularly polarized antenna assembly to better receive the satellite signal, and adopts the RTK technology for positioning, thereby improving the positioning accuracy. At the same time, the drone of the embodiment adopts a circularly polarized antenna to receive satellite signals, and the circularly polarized antenna has a small size and light weight, thereby reducing the size of the drone and increasing the life of the drone. time.

DRAWINGS

In order to more clearly illustrate the technical solution of the method embodiment of the present invention, a brief description of the drawings to be used in the description of the embodiments will be briefly introduced. It is obvious that the drawings in the following description are some embodiments of the method of the present invention. Other drawings may also be obtained from those skilled in the art based on these drawings without paying any creative effort.

1 is an application scenario diagram of a UAV positioning according to an embodiment of the present invention;

2 is a schematic structural diagram of Embodiment 1 of a drone according to an embodiment of the present invention;

3 is a three-dimensional view of a drone according to Embodiment 1 of the present invention;

4 is a front view of a drone according to Embodiment 1 of the present invention;

5 is a top plan view of a drone according to Embodiment 1 of the present invention;

FIG. 6 is a schematic structural diagram of Embodiment 2 of a UAV according to an embodiment of the present invention;

7 is a schematic structural view of a heat dissipating component according to Embodiment 2 of the present invention;

8 is a schematic structural diagram of a circularly polarized antenna assembly in a drone according to Embodiment 3 of the present invention;

FIG. 9 is another schematic structural diagram of a circularly polarized antenna assembly in a drone according to Embodiment 3 of the present invention; FIG.

10 is a schematic structural diagram of a feed network in a circularly polarized antenna assembly;

FIG. 11 is a schematic structural diagram of Embodiment 1 of a circularly polarized antenna assembly of a UAV according to an embodiment of the present invention;

12 is a schematic structural diagram of Embodiment 2 of a circularly polarized antenna assembly of a drone according to an embodiment of the present invention;

FIG. 13 is another schematic structural diagram of Embodiment 2 of a circularly polarized antenna assembly of a UAV according to an embodiment of the present disclosure;

FIG. 14 is a schematic structural diagram of Embodiment 3 of a circularly polarized antenna assembly of a drone according to an embodiment of the present invention.

Description of the reference signs:

1: drone;

2: RTK base station;

3: satellite;

10: the body of the fuselage;

11: propeller;

12: landing gear;

20: RTK component;

30: a circularly polarized antenna assembly;

31: a circularly polarized antenna;

32: pre-processing component;

33: top cover;

310: a feed network;

311: a feed pin;

322: ground pin;

320: a vibrator unit;

321: the first vibrator;

322: a second vibrator;

324: feed end;

323: ground terminal;

330: a cylindrical substrate;

40: heat dissipating component;

41: a first through hole;

110: a second through hole;

50: signal separation device;

60: a first processing component;

61: a first band pass filter;

62: a first attenuator;

70: a second processing component;

71: a second band pass filter;

72: a second attenuator;

80: a signal synthesis device;

301: the first bridge;

302: a second bridge;

303: Barron;

304: a first vibrator unit;

305: a second vibrator unit;

306: a third oscillator unit;

307: a fourth vibrator unit;

81: a first amplifying part;

82: Second amplifying part.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. It is a partial embodiment of the invention, and not all of the embodiments. All other embodiments obtained by a person skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

With the development of drones, drones have been widely used in surveying and mapping, planning farmland, power inspection and other fields, and these areas require precise positioning of drones. At present, UAVs usually use GPS positioning, and GPS positioning accuracy is low, which cannot meet the requirements of high positioning accuracy.

In order to solve the above technical problem, the unmanned aerial vehicle provided by the embodiment of the present invention sets the RTK (Real-time kinematic) component and uses the RTK technology for positioning, and the positioning accuracy can reach the centimeter level, thereby greatly improving the The positioning accuracy of the man-machine increases the scope of use of the drone.

Among them, RTK positioning technology is a carrier phase real-time dynamic differential positioning technology combining global satellite navigation and positioning technology and data communication technology, which can provide three-dimensional positioning results of the measurement station in the specified coordinate system in real time. In the RTK measurement mode, the base station transmits its observations and station coordinate information to the rover through the data link. The rover not only collects satellite observation data, but also receives data from the reference station through the data link and is composed in the system. Differential observations are processed in real time.

1 is an application scenario diagram of a UAV positioning according to an embodiment of the present invention. As shown in FIG. 1, the UAV 1 of the present embodiment is equivalent to the above-mentioned rover, and the RTK base station 2 of this embodiment is equivalent to the above. Base station. The drone 1 and the RTK base station 2 receive the satellite signals transmitted by the satellite 3, while the drone 1 receives the RTK data transmitted by the RTK base station 2, and performs positioning based on the satellite signals and the RTK data.

The technical solutions of the present invention will be described in detail below with specific embodiments. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in some embodiments.

FIG. 2 is a schematic structural diagram of Embodiment 1 of a UAV according to an embodiment of the present invention, FIG. 3 is a three-dimensional diagram of a UAV according to Embodiment 1 of the present invention, and FIG. 4 is a schematic diagram of a UAV according to Embodiment 1 of the present invention. Main view, FIG. 5 is a top view of a drone according to Embodiment 1 of the present invention. As shown in FIGS. 1 to 5, the drone of the present embodiment includes a fuselage body 10, an RTK assembly 20, and a circularly polarized antenna assembly 30 disposed on the top of the fuselage body 10, wherein the circularly polarized antenna assembly 30 For receiving a satellite signal; the RTK component 20 is configured to determine location information of the drone according to the satellite signal received by the circularly polarized antenna assembly 30 and the RTK data acquired from the RTK base station, specifically, the RTK component can be circularly polarized The satellite signal received by the antenna assembly 30 and the RTK data acquired from the RTK base station are differentially positioned to determine the position information of the drone.

The unmanned aerial vehicle of this embodiment may be a plant protection drone, an aerial drone, a surveying drone, etc., and the specific type of the drone is not limited in this embodiment.

As shown in FIG. 3 to FIG. 5, the drone of the present embodiment further includes a power system, a landing gear 12, and the like disposed on the body 10, wherein the power system may include a motor (not shown) and a propeller 11 Wait.

Specifically, as shown in FIG. 2 to FIG. 5, the unmanned aerial vehicle of the present embodiment includes the fuselage body 10 (for convenience of explanation, FIG. 2 only shows the top casing of the fuselage body), and further includes an RTK component. 20 and circularly polarized antenna assembly 30. The circularly polarized antenna assembly 30 can be disposed at any position of the body 10, for example, at the top of the body 10, so that the satellite signal can be received and the fixed installation can be facilitated. The RTK assembly 20 can also be disposed at any position of the body 10, for example, inside the body 10, so that the body 10 can protect the RTK assembly 20 from damage to the RTK assembly 20, thereby ensuring The operational reliability of the RTK assembly 20 provides assurance for the accurate positioning of the drone.

Since the satellite signal is a circularly polarized wave, in order to improve the reception effect on the satellite signal, the present embodiment employs a circularly polarized antenna assembly 30 in the drone, and the circularly polarized antenna assembly 30 can effectively receive the circularly polarized wave satellite signal. Reduce signal loss and provide high-precision reference data for precise positioning.

The circularly polarized antenna assembly 30 of the present embodiment includes at least a circularly polarized antenna 31 for receiving satellite signals. The trajectory of the instantaneous electric field vector radiated by the antenna of the circularly polarized antenna 31 is a circle. According to the direction of propagation, if the electric field vector is rotated in the right-handed spiral direction, it is called right-hand circular polarization. If it is rotated in the left-hand spiral direction, it is called left-handed rotation. Circular polarization.

It should be noted that the circularly polarized antenna 31 has the same direction of rotation as the circularly polarized wave of the satellite signal. For example, when the satellite signal is a right-handed circularly polarized wave, the circularly polarized antenna 31 is right-handed. When the satellite signal is a left-handed circularly polarized wave, the circularly-polarized antenna 31 is right-handed because the circularly-polarized antenna 31 can receive only the circularly polarized wave having the same direction of rotation.

The circularly polarized antenna 31 of this embodiment may be: a cross-symmetric plane, a microstrip antenna, a helical antenna, a microstrip reflection array, or the like.

Preferably, the circularly polarized antenna 31 of the present embodiment may be a four-arm helical microstrip antenna.

The circularly polarized antenna 31 of the present embodiment has a low antenna height and a small lateral dimension, thereby reducing the overall size of the drone and realizing miniaturization of the drone. At the same time, the circularly polarized antenna 31 of the present embodiment is light in weight, thereby improving the life time of the drone.

In actual use, the RTK base station on the ground receives the satellite signal transmitted by the satellite, obtains RTK data such as carrier phase observation value, pseudorange observation value, RTK base station coordinates, and transmits the RTK data to the RTK component 20. At the same time, the circularly polarized antenna assembly 30 on the drone receives the satellite signal and transmits the satellite signal to the RTK component 20, at which time the RTK component 20 obtains the RTK data and the satellite signal. Next, the RTK component 20 performs real-time differential processing on the RTK data and the satellite signal to obtain a baseline vector (ΔX, ΔY, ΔZ) between the drone and the RTK base station. Then, based on the baseline vector, the coordinates of the RTK base station are added to obtain the WGS84 coordinates of the drone, that is, the geocentric coordinate system of the drone. Finally, the coordinate transformation (for example, according to the 1954 Beijing coordinate system, the 1980 Xi'an coordinate system or the local independent coordinate system, etc.), the plane coordinates x, y and the normal height h of the drone are obtained, thereby realizing the precise positioning of the drone. .

Optionally, as shown in FIG. 2, the circularly polarized antenna assembly 30 of the present embodiment may further include a top cover 33 that is disposed on the circularly polarized antenna 31, and the top cover 33 may serve on the circularly polarized antenna 31. Protective effects.

Optionally, the RTK base station in this embodiment may be a single RTK base station or a network RTK base station, which is not limited in this embodiment, and is specifically set according to actual needs.

The unmanned aerial vehicle provided by the embodiment of the invention comprises a fuselage body, an RTK component and a circularly polarized antenna assembly disposed on the top of the fuselage body, wherein the circularly polarized antenna component is used for receiving satellite signals, and the RTK component is used for The satellite signal received by the polarized antenna assembly and the RTK data acquired from the RTK base station determine the location information of the drone. That is, the drone of the embodiment adopts the RTK technology for positioning, and the positioning accuracy is improved. At the same time, the drone of the embodiment adopts a circularly polarized antenna to receive satellite signals, and the circularly polarized antenna has a small size and light weight, thereby reducing the size of the drone and increasing the life of the drone. time.

FIG. 6 is a schematic structural diagram of Embodiment 2 of the UAV according to the embodiment of the present invention. On the basis of the foregoing embodiment, as shown in FIG. 6, the UAV of the embodiment may further include a heat dissipating component 40, and the heat dissipating component 40 is disposed on the body 10 for dissipating heat from the RTK assembly 20.

The shape and size of the heat dissipating member 40 are not limited in this embodiment, and are specifically set according to actual needs. For example, the shape and size of the heat dissipating member 40 may match the shape and size of the RTK assembly 20, that is, when the RTK assembly 20 is a rectangular plate, the heat dissipating member 40 may also be a rectangular plate. Optionally, the size of the heat dissipation component 40 is greater than the size of the RTK component 20, thereby increasing the heat dissipation area of the heat dissipation component 40, and improving the heat dissipation efficiency of the RTK component 20.

The heat dissipating member 40 of the embodiment can be made of any heat dissipating material. For example, it can be made of a metal material having good thermal conductivity such as gold, silver, copper or aluminum, or can be made of graphene, graphite, carbon fiber and C/C composite. Made of non-metallic materials with good thermal conductivity such as materials.

Optionally, the heat dissipation component 40 of the embodiment may be a heat sink, such as a copper aluminum heat sink composed of a plurality of heat sinks. Optionally, the heat dissipation component 40 of the embodiment may also be a metal heat dissipation plate.

Optionally, the heat dissipating component 40 of the embodiment is in contact with any surface of the RTK component 20 for transferring heat generated by the RTK board. For example, the heat dissipating member 40 may be disposed on the lower surface of the RTK assembly 20 and be in contact with the lower surface of the RTK assembly 20. Alternatively, the heat dissipating member 40 may be disposed on the upper surface of the RTK assembly 20, and on the RTK assembly 20. Surface contact heat dissipation, etc.

With continued reference to FIG. 6, the circularly polarized antenna assembly 30 of the present embodiment can be mounted on the heat dissipating component 40, and the heat dissipating component 40 is disposed between the circularly polarized antenna component 30 and the RTK component 20.

Specifically, as shown in FIG. 6, the heat dissipating member 40 is disposed on the RTK assembly 20 and is in contact with the upper surface of the RTK assembly 20. Since the devices on the RTK assembly 20 are substantially disposed on the upper surface of the RTK assembly 20, the heat on the upper surface of the RTK assembly 20 is concentrated. Thus, the heat dissipating member 40 is disposed on the RTK assembly 20 to facilitate heat transfer on the upper surface of the RTK assembly 20. The heat dissipation member 40 is further provided with improved heat dissipation efficiency of the RTK assembly 20.

At the same time, the circularly polarized antenna assembly 30 is mounted on the heat dissipating component 40, so that the fixed installation of the circularly polarized antenna assembly 30 can be realized, and the use of the antenna mount or the like can be avoided, thereby reducing the number of parts of the drone.

Optionally, the connection between the circularly polarized antenna assembly 30 and the heat dissipating component 40 of the embodiment may be non-detachable connection such as soldering or bonding, or may be detachably connected by clamping, threading, etc. For example, there is no restriction on this, and it is set according to actual needs.

Optionally, as shown in FIG. 6, the circularly polarized antenna assembly 30 of the present embodiment is connected to the heat dissipating component 40 by bolts. Specifically, at least one threaded hole is disposed on the circularly polarized antenna component 30, correspondingly, At least one boss having an internal thread is disposed on the heat dissipating member 40. For example, as shown in FIG. 6, one threaded hole is disposed at each of the four corners of the circularly polarized antenna assembly 30, correspondingly at the heat dissipating member 40. Four bosses with internally threaded holes are provided at the corresponding positions. Next, each boss is connected to each of the screw holes in a one-to-one correspondence using a bolt, and the circularly polarized antenna assembly 30 is fixed to the heat radiating member 40. When the circularly polarized antenna assembly 30 needs to be replaced or repaired, the circularly polarized antenna assembly 30 can be directly removed from the heat dissipating component 40, thereby improving the disassembly and installation convenience of the circularly polarized antenna assembly 30.

FIG. 7 is a schematic structural view of a heat dissipating component according to Embodiment 2 of the present invention. As shown in FIG. 6 and FIG. 7 , the first through hole 41 is disposed on the heat dissipation plate, and the circularly polarized antenna assembly 30 and the RTK assembly 20 are disposed in the first through hole 41. The connection of the cable.

The circularly polarized antenna assembly 30 of the present embodiment and the RTK component 20 are connected by a connection line for data interaction. Specifically, the satellite signal received by the circularly polarized antenna assembly 30 is transmitted to the RTK through the connection line. Component 20.

Specifically, as shown in FIG. 6 and FIG. 7, when the heat dissipating component 40 is disposed between the circularly polarized antenna component 30 and the RTK component 20, in order to facilitate the connection of the circularly polarized antenna component 30 and the RTK component 20, this embodiment Then, a first through hole 41 is disposed on the heat dissipation plate, so that the connection line can pass through the first through hole 41 to connect the circularly polarized antenna assembly 30 and the RTK assembly 20. That is, in the embodiment, the connecting line is disposed in the first through hole 41, so that the connecting line can be prevented from being disposed outside the heat dissipating member 40, causing a problem of messy wiring. At the same time, the first through hole 41 serves to fix and protect the connecting line, so that the connection between the circularly polarized antenna assembly 30 and the RTK assembly 20 is more reliable.

Optionally, the connection line of this embodiment may be any type of connection line that can transmit signals. Preferably, it may be an IPEX connection line.

With reference to FIG. 6 , in another possible implementation manner of the embodiment, in order to facilitate the fixing of the heat dissipating component 40 , the top of the fuselage body 10 of the embodiment has a second through hole 110 adapted to the heat dissipating component 40 . The heat dissipating member 40 is fixed in the second through hole 110.

Optionally, the heat dissipating component 40 of the embodiment may be soldered in the second through hole 110, that is, the periphery of the heat dissipating component 40 and the periphery of the second through hole 110 are welded.

Optionally, the heat dissipating component 40 is disposed as a “T” shaped boss, wherein the size of the bottom of the heat dissipating component 40 is smaller than the size of the top of the heat dissipating component 40, and the size of the bottom of the heat dissipating component 40 is adapted to the size of the second through hole 110. And the size of the top of the heat dissipation member 40 is larger than the size of the second through hole 110. In this way, when the heat dissipating component 40 is disposed in the second through hole 110, the bottom of the heat dissipating component 40 is located in the second through hole 110, and the interference fit, the transition fit or the clearance fit may be provided therebetween, and the top of the heat dissipating component 40 abuts. At the edge of the second through hole 110, the heat dissipating member 40 can be hung on the top of the body 10, and no other connection can be made between the two, thereby simplifying the mounting process of the heat dissipating member 40.

Optionally, in this embodiment, the periphery of the second through hole 110 can be made into a sunken table, that is, the periphery of the second through hole 110 is recessed to form a sunken table, and the shape and size of the sinking table and the heat dissipating component 40 are The shape and size are adapted, and the heat dissipating member 40 can be disposed on the sinking table to facilitate the fixed mounting of the heat dissipating member 40.

Optionally, in the embodiment, the heat dissipating component 40 is smoothly adjacent to the heat dissipating surface of the circularly polarized antenna component 30 and the top outer surface of the fuselage body 10, so that the heat dissipating component 40 forms part of the fuselage body 10, and the drone is improved. Aesthetics.

The unmanned aerial vehicle provided by the embodiment of the invention provides a heat dissipating component on the fuselage body to dissipate heat from the RTK component, thereby improving the heat dissipation efficiency of the RTK component and improving the operational reliability of the RTK component. Further, the RTK component is disposed between the circularly polarized antenna component and the RTK component, and the circularly polarized antenna component is mounted on the heat dissipating component to achieve fixation of the circularly polarized antenna component.

8 is a schematic structural diagram of a circularly polarized antenna assembly in a UAV according to Embodiment 3 of the present invention, and FIG. 9 is another schematic structural diagram of a circularly polarized antenna assembly in a UAV according to Embodiment 3 of the present invention, FIG. It is a schematic diagram of the structure of the feed network in the circularly polarized antenna assembly. Based on the above embodiment, as shown in FIGS. 8 to 9, the circularly polarized antenna assembly 30 of the present embodiment includes a circularly polarized antenna 31 and an antenna signal preprocessing component 32 connected to the circularly polarized antenna 31. The preprocessing component 32 is configured to preprocess the satellite signals received by the circularly polarized antenna 31, wherein the preprocessing component functions to increase the gain of the circularly polarized antenna assembly 30 and filter out the received satellites. The noise in the signal, the RTK component 20 is connected to the pre-processing component 32, specifically for determining the location information of the drone based on the satellite signal pre-processed by the pre-processing component 32 and the RTK data acquired from the RTK base station.

Specifically, in actual use, the circularly polarized antenna 31 receives the satellite signal transmitted by the satellite, and transmits the satellite signal to the pre-processing component 32. The pre-processing component 32 performs pre-processing on the satellite signal for amplification, filtering, etc., and then, The processed satellite signals are sent to the RTK component 20. The RTK component 20 simultaneously receives the RTK data sent by the RTK base station, and performs real-time differential processing according to the preprocessed satellite signal and the RTK data to determine the location information of the drone.

With continued reference to FIGS. 8-10, the circularly polarized antenna 31 of the present embodiment includes a feed network 310, a plurality of transducer units 320, and a cylindrical substrate 330, wherein each of the transducer units 320 includes a first transducer 321 and a a second vibrator 322, wherein the first vibrator 321 and the second vibrator 322 are spirally disposed on the cylindrical substrate 330 and extend toward an upper end portion of the cylindrical substrate 330, and each of the vibrator units 320 further A feed end 324 and a ground end 323 may be included, each of the vibrator units 320 being coupled to the feed network 310 via a feed end 324 and a ground end 323.

The cylindrical substrate 330 of this embodiment may be a cylinder, for example, may be a hollow cylinder, which can reduce the weight of the circularly polarized antenna 31 and improve the life of the drone. Optionally, the cylindrical substrate 330 may also be a solid cylinder, and the structure thereof is relatively stable.

Optionally, the cylindrical substrate 330 of the embodiment is a flexible substrate, and the vibrator unit can be first disposed on the flexible substrate, and then the flexible body is substantially wound into a cylindrical shape to facilitate the processing of the antenna.

Optionally, the circularly polarized antenna 31 of the present embodiment is an FPC (Flexible Printed Circuit) microstrip antenna, wherein each of the vibrator units 320 can be an L antenna unit or an IFA (Inverted-F) antenna unit. Preferably, it may be a PIFA unit.

As shown in FIG. 8 and FIG. 9, the length of the first vibrator 321 is greater than the length of the second vibrator 322, wherein the first vibrator 321 is configured to receive high frequency satellite signals (for example, the L1 frequency band of the GPS positioning system, the Beidou positioning system B1, F1). The frequency band, the Galileo positioning system E1 frequency band, the satellite signal corresponding to at least one of the G1 frequency bands of the GLONAS positioning system, and the second vibrator 322 is configured to receive the low frequency satellite signal (for example, the L2, L5 frequency band, Beidou positioning system of the GPS positioning system) B2, B3, F2 frequency band, Galileo positioning system E5, E6 frequency band, GLONAS positioning system G2, G3 frequency band corresponding to satellite signals).

Optionally, the feed network 310 and the pre-processing component 32 of the embodiment may be disposed on the same circuit board, so that the feed network 310 and the pre-processing component 32 are conveniently connected to reduce the occupied volume.

Optionally, the feed network 310 of the embodiment includes a feed pin 311 connected to the feed end 324 and a ground pin 322 connected to the ground end 323. The number of the feeding pins 311 and the feeding end 324 of the vibrator unit 320 are the same, and the number of the grounding pins 322 and the grounding end 323 of the vibrator unit 320 are the same, so that the feeding pins 311 and the vibrator unit 320 are connected one-to-one. The ground pin 322 is connected to the ground terminal 323 in one-to-one correspondence.

Specifically, as shown in FIG. 9 and FIG. 10, it is assumed that the circularly polarized antenna 31 of the present embodiment is a four-arm circularly polarized antenna 31 and includes four transducer units 320. The bottom end of each vibrator unit 320 is provided with a feeding end 324 and a grounding end 323. The corresponding feeding network 310 includes a fourth feeding pin 311 and a fourth grounding pin 322, and each feeding of the vibrator unit 320 The power terminals 324 are connected in one-to-one correspondence with each of the feed pins 311 on the feed network 310. Each ground terminal 323 of the vibrator unit 320 is connected in one-to-one correspondence with each of the ground pins 322 on the feed network 310. Next, the output port of the feed network 310 is coupled to the input port of the pre-processing component 32, and the received satellite signal can be transmitted to the pre-processing component 32 to cause the pre-processing component 32 to pre-process the satellite signal.

The unmanned aerial vehicle provided by the embodiment of the present invention sets the circularly polarized antenna assembly into a circularly polarized antenna and an antenna signal preprocessing component connected to the circularly polarized antenna, wherein the preprocessing component is used for the circularly polarized antenna The received satellite signal is preprocessed; the RTK component is connected to the preprocessing component, and is specifically configured to determine the location information of the drone according to the satellite signal preprocessed by the preprocessing component and the RTK data acquired from the RTK base station, thereby improving the pair The processing power of the satellite signal makes the position of the drone determined based on the processed satellite signal more accurate.

FIG. 11 is a schematic structural diagram of Embodiment 1 of a circularly polarized antenna assembly of a drone according to an embodiment of the present invention. As shown in FIG. 11, the circularly polarized antenna assembly 30 of the present embodiment includes a circularly polarized antenna 31 and an antenna signal preprocessing component 32 connected to the circularly polarized antenna 31, wherein the circularly polarized antenna 31 includes a plurality of oscillators. The unit 320 and the feed network 310, the pre-processing component 32 includes: a signal separation device 50, a first processing component 60, a second processing component 70, and a signal synthesis device 80, wherein

The circularly polarized antenna 31 is for receiving satellite signals.

The signal separating device 50 is configured to separate the first frequency band and the second frequency band of the satellite signals received by the circularly polarized antenna 31.

The first processing component 60 is configured to perform a first preset process on the first frequency band satellite signal output by the signal separation device 50.

The second processing component 70 is configured to perform a second preset process on the second frequency band satellite signal output by the signal separation device 50.

The signal synthesizing device 80 is for synthesizing satellite signals output from the first processing unit 60 and the second processing unit 70.

Specifically, as shown in FIG. 11, in actual use, the circularly polarized antenna 31 receives the satellite signal transmitted by the satellite and transmits the satellite signal to the signal separating device 50. Since the satellite signal includes signals of different frequency bands, the embodiment divides the satellite signal into a first frequency band satellite signal and a second frequency band satellite signal. Thus, when the signal separating device 50 receives the satellite signal, the signal separating device 50 separates the satellite signal and separates it into a first band satellite signal and a second band satellite signal.

Optionally, the first frequency band of the embodiment includes at least one of an L1 frequency band of a GPS positioning system, a Beidou positioning system B1, an F1 frequency band, a Galileo positioning system E1 frequency band, and a GLONAS positioning system G1 frequency band.

Optionally, the second frequency band of the embodiment includes at least the L2 and L5 frequency bands of the GPS positioning system, the BDou positioning system B2, B3, and F2 frequency bands, the Galileo positioning system E5, the E6 frequency band, and the GLONAS positioning system G2 and G3 frequency bands. At least one of them.

Next, the signal separating device 50 transmits the first frequency band satellite signal to the first processing unit 60, so that the first processing unit 60 performs the first preprocessing on the first frequency band satellite signal for amplification, filtering, and the like. At the same time, the signal separation device 50 transmits the second frequency band satellite signal to the second processing unit 70, so that the second processing unit 70 performs second preprocessing on the second frequency band satellite signal for amplification, filtering, and the like.

After the signal processing is completed, the first processing component 60 transmits the processed first frequency band satellite signal to the signal synthesizing device 80, and the second processing component 70 transmits the processed second frequency band satellite signal to the signal synthesizing device 80. Finally, the signal synthesizing device 80 synthesizes the processed first band satellite signal and the processed second band satellite signal, and transmits the synthesized satellite signal to the RTK component 20. Wherein, the signal separating device and the signal synthesizing device may be a power splitter.

That is, the antenna component of the embodiment first separates the satellite signals, and adopts different preprocessing methods for the satellite signals of different frequency bands, thereby realizing accurate processing of the satellite signals, and avoiding using the same processing flow for satellite signals of different frequency bands. The problem of satellite signal distortion, unsatisfactory magnification, and incomplete noise filtering is solved, which makes the positioning of the satellite signal based on the precise preprocessing more accurate, and further improves the positioning accuracy of the drone.

The circularly polarized antenna assembly of the UAV provided by the embodiment of the present invention provides a circularly polarized antenna and an antenna signal preprocessing component connected to the circularly polarized antenna, wherein the preprocessing component includes a signal separation device, a first processing component, a second processing component and a signal synthesizing device, the circularly polarized antenna is configured to receive a satellite signal; and the signal separating device is configured to separate the first frequency band and the second frequency band of the satellite signal received by the circularly polarized antenna; a first preset processing for the first frequency band satellite signal outputted by the signal separating device; a second processing component for performing a second preset processing on the second frequency band satellite signal output by the signal separating device; the signal synthesizing device The satellite signals outputted by the first processing component and the second processing component are synthesized, thereby improving the processing accuracy of the satellite signal and improving the positioning accuracy of the drone based on the satellite signal.

12 is a schematic structural diagram of a second embodiment of a circularly polarized antenna assembly of a drone according to an embodiment of the present invention, and FIG. 13 is another structure of a second embodiment of a circularly polarized antenna assembly of the unmanned aerial vehicle according to an embodiment of the present invention. schematic diagram. On the basis of the above embodiment, as shown in FIG. 12, the first processing component 60 of the present embodiment includes at least one first band pass filter 61 for filtering the first band satellite signal output by the signal separation device 50. .

Optionally, the first band pass filter 61 of the embodiment is selected according to the first frequency band, that is, the first band pass filter 61 allows the signal of the first frequency band to pass, and is lower than the lower limit frequency of the first frequency band. The signal and the signal higher than the upper frequency limit of the first frequency band are attenuated or suppressed.

The number of the first band-pass filters 61 in this embodiment is set according to actual needs, which is not limited in this embodiment.

Optionally, the first band pass filter 61 of this embodiment may be a (Surface Acoustic Wave) SAW filter.

With continued reference to FIG. 12, the second processing component 70 of the present embodiment includes at least one second bandpass filter 71 for filtering the second band satellite signal output by the signal separation device 50.

Optionally, the second band pass filter 71 of the embodiment is selected according to the second frequency band, that is, the second band pass filter 71 allows the signal of the second frequency band to pass, and is lower than the lower limit frequency of the second frequency band. The signal and the signal higher than the upper frequency limit of the second frequency band are attenuated or suppressed.

The number of the second band-pass filters 71 in this embodiment is set according to actual needs, which is not limited in this embodiment.

Optionally, the second band pass filter 71 of the embodiment may be a (Surface Acoustic Wave) SAW filter.

With continued reference to FIGS. 8-10, the circularly polarized antenna 31 of the present embodiment includes a plurality of transducer units 320, a feed network 310 coupled to each of the transducer units 320, and a cylindrical substrate 330, wherein each of the transducers The unit 320 includes a first vibrator 321 and a second vibrator 322, wherein the first vibrator 321 and the second vibrator 322 are spirally disposed on the cylindrical substrate 330 and extend toward an upper end portion of the cylindrical substrate 330. . The description of the structure of the circularly polarized antenna 31 is as described above with reference to the above embodiments, and details are not described herein again.

Optionally, the circularly polarized antenna 31 of the embodiment may be a four-arm circularly polarized antenna 31, that is, includes four transducer units 320.

At this time, as shown in FIG. 13, the feed network 310 of the present embodiment includes a first bridge 301, a second bridge 302, and a balun 303 connected to the first bridge 301 and the second bridge 302, respectively. The first bridge 301 is connected to the first vibrator unit 304 and the second vibrator unit 305 adjacent to the first vibrator unit 304, respectively; the second bridge 302 and the third vibrator unit 306 and The third transducer unit 307 adjacent to the triple oscillator unit 306 is coupled; the balun 303 is for transmitting the processed signal to the pre-processing component 32.

Specifically, as shown in FIG. 13, the circularly polarized antenna 31 of the present embodiment includes four vibrator units 320, which are a first vibrator unit 304, a second vibrator unit 305, a third vibrator unit 306, and a fourth vibrator unit, respectively. 307. The phase of each adjacent transducer unit 320 is 90 degrees apart. For example, the phase of the first transducer unit 304 is 0 degrees, the phase of the second transducer unit 305 is 90 degrees, and the phase of the third transducer unit 306 is 180 degrees. The phase of the fourth transducer unit 307 is 270 degrees.

The first transducer unit 304 and the second transducer unit 305 are connected to the first bridge 301, and the second transducer unit 305 and the second transducer unit 305 are connected to the second bridge 302. The first bridge 301 is configured to synthesize the satellite signal received by the first transducer unit 304 and the satellite signal received by the second transducer unit 305, and the second bridge 302 is used to receive the third transducer unit 306. The satellite signal and the satellite signal received by the fourth transducer unit 307 are combined.

As can be seen from the above, since the phases of the first transducer unit 304, the second transducer unit 305, the third transducer unit 306, and the fourth transducer unit 307 are different by 90 degrees, the first bridge 301 and the second power of the embodiment are The bridges 302 are all 90 degree bridges.

The phase difference between the satellite signal processed by the first bridge 301 and the satellite signal processed by the second bridge 302 is 180 degrees. Next, the first bridge 301 and the second bridge 302 transmit the processed two satellite signals with a phase difference of 180 degrees to the balun 303. The Balun 303 synthesizes two satellite signals with a phase difference of 180 degrees, and transmits the synthesized satellite signals to the pre-processing component 32, thereby achieving efficient reception of satellite signals.

As can be seen from the above, the circularly polarized antenna 31 of the present embodiment includes four transducer units 320, each of which can receive satellite signals, and the feed network 310 synthesizes the satellite signals received by each of the transducer units 320. In turn, the receiving efficiency of satellite signals is improved.

Optionally, the feed network 310 and the pre-processing component 32 of the embodiment are disposed on the same circuit board for management, and the number of parts of the antenna assembly is reduced.

The circularly polarized antenna assembly of the UAV provided by the embodiment of the present invention is configured to filter at least one first band pass filter in the first processing component for filtering the first frequency band satellite signal output by the signal separating device. The second processing component is provided with at least one second band pass filter for filtering the satellite signal of the second frequency band output by the signal separating device, thereby separately filtering the satellite signals of different frequency bands, thereby improving the filtering accuracy. At the same time, efficient reception of satellite signals is achieved by providing a first bridge, a second bridge and a balun in the feed network.

FIG. 14 is a schematic structural diagram of Embodiment 3 of a circularly polarized antenna assembly of a drone according to an embodiment of the present invention. On the basis of the above embodiment, as shown in FIG. 14, the first amplification component 81 is disposed between the feed network 310 and the signal separation device 50, and the first amplification component 81 is used for the feed network 310. The output satellite signal is amplified.

Specifically, since the received satellite signal is weak, the first amplifying part 81 is disposed between the feeding network 310 and the signal separating device 50 in this embodiment, so that the satellite signal output by the feeding network 310 is amplified by the first amplifying part 81. Then, it is sent to the signal separating device 50, so that the signal separating device 50 accurately separates the satellite signals, thereby realizing effective processing of the satellite signals.

Alternatively, the first amplifying part 81 of the embodiment may be a follower amplifier.

With continued reference to FIG. 14, the first processing component 60 of the present embodiment further includes a first attenuator 62 for attenuating the first band satellite signal output by the signal separation device 50.

Optionally, the second processing component 70 of the embodiment includes a second attenuator 72 for attenuating the second frequency band satellite signal output by the signal separation device 50.

Specifically, as shown in FIG. 14, when the satellite signal is amplified by the first amplifying means 81, the intensity of the satellite signal increases, and the corresponding amplitude increases. Next, the signal separation device 50 separates the high signal strength satellite signals into a first band satellite signal and a second frequency satellite signal. At this time, the signal strengths of the first frequency band satellite signal and the second frequency satellite signal are also strong. At this time, in order to saturate the amplified satellite signal, it is necessary to attenuate the first band satellite signal and the second band satellite signal.

Optionally, the first attenuator 62 and the second attenuator 72 of the embodiment may be a π-type attenuator.

Optionally, the first attenuator 62 of the embodiment may be disposed between the signal separating device 50 and the first band pass filter 61, and the second attenuator 72 may be disposed between the signal separating device 50 and the second band pass filter. Between 71.

Optionally, the first attenuator 62 of the embodiment may be disposed between the first band pass filter 61 and the signal synthesizing device 80, and the second attenuator 72 may be disposed between the second band pass filter 71 and the signal synthesizing device. Between 80.

Alternatively, as shown in FIG. 14, when the first processing component 60 includes two first band pass filters 61, the first attenuator 62 may be disposed between the two first band pass filters 61. Similarly, when the second processing unit 70 includes two second band pass filters 71, the second attenuator 72 may be disposed between the two second band pass filters 71.

With continued reference to FIG. 14, the pre-processing component 32 of the present embodiment further includes a second amplifying component 82 coupled to the signal synthesizing device 80 for amplifying the satellite signal output by the signal synthesizing device 80.

Specifically, as shown in FIG. 14, since the satellite signal is small, the required gain is large, and single-stage amplification often fails to meet the requirement. Therefore, in order to obtain a sufficiently large gain, the pre-processing component 32 of the present embodiment includes not only the first An amplifying component 81 further includes a second amplifying component 82 for step-by-step amplification of the satellite signal, so that the satellite signal output by the pre-processing component 32 satisfies the preset requirement and can be received and processed by the RTK component 20, thereby improving the unmanned Machine positioning reliability.

The circularly polarized antenna assembly of the UAV provided by the embodiment of the present invention has a first amplifying component disposed between the feeding network and the signal separating device, and the first amplifying component is configured to perform satellite signal outputted by the feeding network. Amplification to ensure efficient separation of satellite signals by subsequent signal separation devices, and effective filtering of satellite signals by bandpass filters.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or substitutions do not deviate from the technical solutions of the embodiments of the present invention. range.

Claims

An unmanned aerial vehicle, comprising: a fuselage body, an RTK assembly, and a circularly polarized antenna assembly disposed on a top of the fuselage body, wherein

The circularly polarized antenna assembly for receiving satellite signals;

The RTK component is configured to determine location information of the drone according to the satellite signal received by the circularly polarized antenna component and the RTK data acquired from the RTK base station.
The drone according to claim 1, wherein the drone further comprises a heat dissipating component disposed on the fuselage body for dissipating heat from the RTK component.
The drone according to claim 2, wherein said circularly polarized antenna assembly is mounted on said heat dissipating member, and said heat dissipating member is disposed in said circularly polarized antenna assembly and said RTK assembly between.
The drone according to claim 3, wherein the heat dissipation plate is provided with a first through hole, and the circularly polarized antenna assembly and the RTK assembly are disposed in the first through hole The connection of the cable.
The drone according to any one of claims 2 to 4, wherein a top portion of the body body has a second through hole adapted to the heat dissipating member, and the heat dissipating member is fixed to the first In the two through holes.
The drone according to claim 5, wherein the heat dissipating member is smoothly transitioned to a heat dissipating surface of the circularly polarized antenna assembly and a top outer surface of the body.
The drone according to claim 1, wherein the circularly polarized antenna assembly comprises a circularly polarized antenna and an antenna signal preprocessing component coupled to the circularly polarized antenna, wherein

The preprocessing component is configured to preprocess a satellite signal received by the circularly polarized antenna;

The RTK component is connected to the pre-processing component, and is specifically configured to determine location information of the UAV according to a satellite signal preprocessed by the pre-processing component and RTK data acquired from the RTK base station.
The drone according to claim 7, wherein the circularly polarized antenna comprises a feed network, a plurality of vibrator units, and a cylindrical substrate, wherein each of the vibrator units comprises a first vibrator and a second vibrator, Wherein the first vibrator and the second vibrator are spirally disposed on the cylindrical substrate and extend toward an upper end portion of the cylindrical substrate, and each of the vibrator units includes a feeding end and a ground end, Each of the vibrator units is connected to the feed network through a feed end and a ground end.
The drone according to claim 8, wherein said feed network and said pre-processing component are disposed on a same circuit board.
The drone according to claim 8, wherein the length of the first vibrator is greater than the length of the second vibrator.
The drone according to any one of claims 8 to 10, wherein the feed network comprises a feed pin connected to the feed end, and a ground pin connected to the ground end .
The drone according to claim 8, wherein the cylindrical substrate is a flexible substrate.
The drone according to claim 2, wherein the heat dissipating member is a metal heat sink.
A circularly polarized antenna assembly for a drone, comprising: a circularly polarized antenna and an antenna signal preprocessing component connected to the circularly polarized antenna, wherein

The circularly polarized antenna is configured to receive a satellite signal;

The pre-processing component includes: a signal separation device, a first processing component, a second processing component, and a signal synthesis device, wherein

The signal separating device is configured to separate the first frequency band and the second frequency band of the satellite signals received by the circularly polarized antenna;

The first processing component is configured to perform a first preset process on the first frequency band satellite signal output by the signal separation device;

The second processing component is configured to perform a second preset process on the second frequency band satellite signal output by the signal separation device;

The signal synthesizing device is configured to synthesize satellite signals output by the first processing component and the second processing component.
The antenna assembly of claim 14 wherein:

The first frequency band includes at least one of an L1 frequency band of a GPS positioning system, a B1 frequency band of a Beidou positioning system, an E1 frequency band of a Galileo positioning system, and a G1 frequency band of a GLONASS positioning system.
The antenna assembly according to claim 14 or 15, wherein

The second frequency band includes at least one of a L2, an L5 frequency band, a Beidou positioning system B2, a B3 frequency band, a Galileo positioning system E5, an E6 frequency band, and a GLONAS positioning system G2, G3 frequency band of a GPS positioning system.
The antenna assembly of claim 14 wherein:

The first processing component includes at least one first band pass filter for filtering a first band satellite signal output by the signal separation device.
The antenna assembly of claim 17 wherein said first band pass filter is selected based on a first frequency band.
The antenna assembly of claim 14 wherein said second processing component includes at least one second bandpass filter for filtering a second band satellite signal output by said signal separation device.
The antenna assembly of claim 19 wherein said second band pass filter is selected based on a second frequency band.
The antenna assembly according to any one of claims 14 to 20, characterized in that

The first processing component includes a first attenuator for attenuating a first frequency band satellite signal output by the signal separation device.
The antenna assembly according to any one of claims 14 to 21, wherein

The second processing component includes a second attenuator for attenuating the second band satellite signal output by the signal separation device.
The antenna assembly according to any one of claims 14 to 22, wherein the circularly polarized antenna comprises a plurality of transducer units, a feed network connected to each of the transducer units, and a cylindrical substrate, wherein each A vibrator unit includes a first vibrator and a second vibrator, wherein the first vibrator and the second vibrator are spirally disposed on the cylindrical substrate and extend toward an upper end portion of the cylindrical substrate.
The antenna assembly according to claim 23, wherein said plurality of transducer units are four transducer units, and said feeding network comprises a first bridge, a second bridge, and a first bridge and a first a balun connected to the two bridges, wherein the first bridge is respectively connected to the first vibrator unit and the second vibrator unit adjacent to the first vibrator unit; the second bridge and the third vibrator unit respectively And connecting to a fourth vibrator unit adjacent to the third vibrator unit; the balun is for transmitting the processed signal to the pre-processing component.
The antenna assembly of claim 23 wherein said feed network and said pre-processing component are disposed on a same circuit board.
The antenna assembly according to claim 23, wherein a first amplifying means is provided between said feed network and said signal separating means, said first amplifying means for outputting said feed network The satellite signal is amplified.
The antenna assembly according to any one of claims 14 to 26, wherein the pre-processing component further comprises a second amplifying component coupled to the signal synthesizing device, the second amplifying component for The satellite signal output by the signal synthesizing device is amplified.