WO2019242014A1 - Dispositif de positionnement rtk et véhicule aérien sans pilote - Google Patents

Dispositif de positionnement rtk et véhicule aérien sans pilote Download PDF

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Publication number
WO2019242014A1
WO2019242014A1 PCT/CN2018/092470 CN2018092470W WO2019242014A1 WO 2019242014 A1 WO2019242014 A1 WO 2019242014A1 CN 2018092470 W CN2018092470 W CN 2018092470W WO 2019242014 A1 WO2019242014 A1 WO 2019242014A1
Authority
WO
WIPO (PCT)
Prior art keywords
positioning device
rtk positioning
housing
module
rtk
Prior art date
Application number
PCT/CN2018/092470
Other languages
English (en)
Chinese (zh)
Inventor
邓磊
尹小俊
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2018/092470 priority Critical patent/WO2019242014A1/fr
Priority to CN201880042048.5A priority patent/CN110892290A/zh
Publication of WO2019242014A1 publication Critical patent/WO2019242014A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D43/00—Arrangements or adaptations of instruments
    • 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
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions

Definitions

  • the invention relates to the technical field of UAV positioning, in particular to an RTK positioning device and an UAV.
  • the RTK real-time (KINEMATIC) positioning technology is a real-time dynamic positioning technology based on carrier phase observations. It can provide real-time 3D positioning results of the station in a specified coordinate system and achieve centimeter-level accuracy.
  • RTK positioning technology is applied in the field of drones.
  • RTK positioning devices for drones can use high-precision GNSS satellite positioning systems to enable drones to map areas or buildings very accurately.
  • a multi-layer circuit board is usually required.
  • the multi-layer circuit board causes the RTK positioning device to have a large volume and a heavy weight.
  • the multi-layer circuit boards all generate heat, and the multi-layer circuit boards are arranged in layers, which is not conducive to the heat dissipation of the circuit boards. Therefore, a larger and heavier RTK positioning device will result in a larger and heavier drone, which is not conducive to the miniaturization of the drone.
  • the object of the present invention is to provide a drone and its RTK positioning device that are small in size and capable of better heat dissipation.
  • An RTK positioning device includes a housing and a circuit board housed in the housing.
  • the circuit board includes a board body.
  • a GPS module and a radio frequency antenna module are provided on one surface of the board body.
  • An RTK control module is provided on one side surface, and an antenna plug for connecting an antenna feeder is provided at an end of the board near the radio frequency antenna module.
  • a drone that includes:
  • a plurality of power devices are respectively provided on the plurality of arms;
  • the RTK positioning device is communicatively connected with the flight control system
  • the RTK positioning device sends the current position information of the drone obtained by it to the flight control system, and the flight control system performs flight control according to the current position information.
  • the above UAV uses the RTK positioning device to design the layout of the circuit board, so that the GPS board, RF antenna module, and RTK control module are arranged on the two surfaces of the circuit board, and an antenna plug is provided at one end of the circuit board.
  • Multiple circuit boards are stacked to save the space required to arrange the circuit boards, thereby reducing the size of the entire RTK positioning device.
  • the two surfaces of the circuit board of the present application do not affect other electronic modules, thereby avoiding the problem of mutual influence caused by the relative arrangement of the two circuit boards in the conventional technology.
  • the GPS module, the RF antenna module and the RTK control module of the circuit board can uniformly dissipate heat, so that the heat generated by the circuit board can be quickly dissipated, which is beneficial to the overall heat dissipation of the entire RTK positioning device.
  • FIG. 1 is a schematic perspective view of a drone according to this embodiment
  • FIG. 2 is a schematic diagram of an RTK positioning device and an electrical module of a flight control system according to this embodiment
  • FIG. 3 is a schematic perspective view of an RTK positioning device according to this embodiment.
  • FIG. 4 is an exploded view of the RTK positioning device shown in FIG. 3;
  • FIG. 5 is a bottom view of the circuit board shown in FIG. 4;
  • FIG. 6 is a bottom view of the first casing shown in FIG. 4;
  • FIG. 7 is a bottom view of the RTK positioning device shown in FIG. 3;
  • FIG. 8 is a schematic diagram of an electrical module of the RTK positioning device shown in FIG. 2.
  • the directions (such as up, down, left, right, front, and rear) are used to explain that the structure and movement of the various elements of the present invention are not absolute but relative. These descriptions are appropriate when these elements are in the positions shown in the drawings. If the description of the position of these elements changes, the indication of these directions changes accordingly.
  • a drone 10 and an RTK positioning device thereof are provided.
  • the drone 10 of this embodiment includes a center body 11, an arm 12, a power device 13, and an RTK positioning device 100.
  • the plurality of arms 12 are fixedly connected to the central body 11.
  • the plurality of power units 13 are respectively provided on the plurality of arms 12.
  • the drone 10 also includes a landing gear 15.
  • the landing gear 15 is disposed below the center body 11 and is used to support the center body 11, the arm 12, the power unit 13, and the RTK positioning device 100.
  • the center body is provided with a flight control system 14.
  • the RTK positioning device is used to provide precise positioning for the drone 10.
  • the RTK positioning device 100 is communicatively connected with the flight control system 14.
  • the RTK positioning device 100 sends the current position information of the drone obtained by it to the flight control system 14, and the flight control system 14 performs flight control according to the current position information.
  • the drone 10 of this embodiment may be an agricultural drone.
  • the RTK positioning device 100 includes a casing 101 and a circuit board 130 received in the casing 101.
  • the circuit board 130 includes a board body 131.
  • a GPS module 132 and a radio frequency antenna module 133 are disposed on one surface of the plate 131.
  • an RTK control module 134 is provided on the other surface of the plate 131.
  • An antenna plug 135 is connected to an end of the plate 131 near the radio frequency antenna module 133 for connecting the antenna feeder 20.
  • the above-mentioned RTK positioning device 100 has a layout design of the circuit board 130 such that a GPS module 132, a radio frequency antenna module 133, and an RTK control module 134 are respectively arranged on two surfaces of the circuit board 130, and an antenna is provided at one end of the circuit board 130
  • the plug 135 eliminates the need to stack multiple circuit boards 130 and saves the space required to arrange the circuit boards 130, thereby reducing the volume of the entire RTK positioning device 100.
  • two surfaces of the circuit board 130 of the present application can evenly dissipate heat, so that the heat generated by the circuit board 130 can be quickly dissipated, which is beneficial to the entire RTK positioning device 100 Overall cooling.
  • the casing 101 is a metal casing.
  • the casing 101 includes a first casing 110 and a second casing 120. That is, the first case 110 and / or the second case 120 are metal cases.
  • the heat dissipation effect of the metal case is good, and it can be ensured that the heat generated on the circuit board 130 can be quickly transmitted through the first case 110 and the second case 120.
  • the first casing 110 is provided with a receiving groove 111.
  • the circuit board 130 is accommodated in the accommodation groove 111, and the second casing 120 is covered at the opening of the accommodation groove 111 to close the circuit board 130 in the accommodation groove 111.
  • first casing 110 and the second casing 120 may also have other shapes.
  • first casing and the second casing are both provided with receiving grooves, and the like is not limited herein.
  • the first housing 110 is provided with a first boss 112.
  • the first boss 112 is disposed on the bottom of the receiving groove 111.
  • the first boss 112 is provided with a screw hole.
  • the plate body 131 is screwed with the first boss 112.
  • the first casing 110 is rectangular.
  • First bosses 112 are provided at the four top corners of the first casing 110.
  • connection holes are formed at the four top corners of the plate 131.
  • the four top corners of the plate body 131 and the four first bosses 112 are respectively fixed by screws.
  • first housing 110 and the number and positions of the first bosses 112 of the RTK positioning device 100 of this embodiment are not limited, as long as the circuit board 130 and the first housing 110 can be implemented Just click on the connection.
  • the first housing 110 is provided with a positioning post 113.
  • the positioning post 113 is disposed on the bottom of the receiving groove 111.
  • the positioning post 113 is inserted into the positioning hole 192 on the board 131 to position the circuit board 130.
  • the positioning post 113 is located at one side of the first boss 112, and the positioning holes 192 on the plate body 131 are located at two diagonal corners of the plate body 131.
  • the first casing 110 is provided with an abutting portion 114.
  • the abutting portion 114 is provided in the middle of the bottom wall of the receiving groove 111.
  • the abutting portion 114 abuts between the circuit board 130 and the bottom of the receiving groove 111.
  • the abutting portion 114 may be a thermally conductive gasket, such as a silicone gasket.
  • the abutting portion 114 is provided corresponding to the GPS module 132 and / or the radio frequency antenna module 133 of the circuit board 130, and is used for thermally conducting the heat generated by the GPS module 132 and / or the radio frequency antenna module 133 of the circuit board.
  • the abutting portion 114 can directly resist the GPS module 132 and / or the radio frequency antenna module 133 of the circuit board 130, and plays a role of stable reinforcement, and can also conduct the heat generated on the circuit board 130 to the first case 110 smoothly. Up to quickly dissipate the heat.
  • the middle portion of the bottom wall of the second casing 120 may be provided with an abutting portion.
  • the abutting portion is correspondingly provided with the RTK control module 134 of the circuit board 130 and is used for thermally conducting the heat generated by the RTK control module 134.
  • the abutting part can directly resist the RTK control module 134 of the circuit board 130, and plays a role of stable reinforcement. It can also smoothly transfer the heat generated by the RTK control module 134 to the second housing 120, thereby quickly transferring the heat Exude.
  • the first housing 110 is provided with a shielding retaining wall 115.
  • the shielding retaining wall 115 is provided at the bottom of the receiving groove 111.
  • the shielding retaining wall 115 has a frame shape.
  • the shielding retaining wall 115 includes a first shielding retaining wall 1151 for surrounding the GPS module 132 and a second shielding retaining wall 1152 for surrounding the radio frequency antenna module 133.
  • the second shielding retaining wall 1152 is provided with a wire hole 1153.
  • the wires of the antenna plug 135 are electrically connected to the radio frequency antenna module 133 through the wire hole 1153.
  • an antenna socket 183 for inserting the antenna feed line 20 is provided at the first housing 110 opposite to the antenna plug 135.
  • the through hole 1153 defines a side of the second shielding block wall 1152 near the antenna socket 183.
  • the wire can be connected to the antenna plug 135 and the radio frequency antenna module 133 with the shortest length.
  • the shielding retaining wall 115 is a metal wall.
  • the shielding retaining wall 115 and the first casing 110 may be an integrated structure.
  • the first casing 110 is provided with a second boss 116 at the bottom of the receiving groove 111.
  • the second boss 116 is provided with a screw hole.
  • the second shell 120 is screwed with the second boss 116.
  • a lug 123 is provided at an inner edge of the second casing 120, and the lug 123 is convex toward the inner side of the second casing 120.
  • the lug 123 is provided with a screw hole.
  • the second boss 116 is located at four top corners of the receiving groove 111 and in the middle of the two long sides of the receiving groove 111.
  • the lugs 123 are provided at the four top corners of the second casing 120 and in the middle of the two long sides of the second casing 120.
  • the second boss 116 is located on one side of the first boss 112.
  • the height of the second boss 116 is higher than the height of the first boss 112, and the second boss 116 and the first boss 112 are arranged in a step shape.
  • the space height of the circuit board 130 facing the second board body 131 is less than or equal to the distance difference between the second boss 116 and the first boss 112. The circuit board 130 mounted on the first boss 112 does not affect the mounting of the second casing 120.
  • the plate body 131 is provided with a relief portion 136 at a position relative to the second boss 116.
  • the avoiding portion 136 can prevent the plate body 131 from covering the second boss 116 and affect the installation of the second casing 120 and the first casing 110.
  • the first casing 110 and the second casing 120 are respectively provided with a stepped portion and an alignment groove which are connected with each other.
  • the first casing 110 is provided with an alignment groove 117
  • the second casing 120 is provided with a stepped portion 121.
  • the alignment groove 117 is disposed opposite to the stepped portion 121, so that the first casing 110 and the first The two shells 120 are aligned and spliced with each other.
  • the first casing 110 and the second casing 120 are first aligned with each other through the step 121 and the alignment groove 117, and then further screwed to The second casing 120 is screwed with the second positioning post 113.
  • the inner wall of the second casing 120 is provided with a limiting rib 122.
  • the limiting rib 122 is disposed relative to the outer periphery of the RTK control module 134 and is used to limit the RTK control module 134.
  • the limit rib 122 can limit the protection of the RTK control module 134 to prevent the RTK control module 134 from being displaced from the board 131 due to a large impact to affect the The electrical connection status of the RTK control module 134.
  • an external portion 124 is further provided on an outer side wall of the second casing 120.
  • the external portion 124 is used for connection with an external connection object.
  • the external portion 124 is a cylinder formed inside the second casing 120.
  • the cylinder is provided with a screw hole on an end surface of the outer side wall of the second casing 120, and the second casing can be connected to the outside through the screw hole. ⁇ ⁇ Connected.
  • a plurality of heat-dissipating fins 140 are arranged side by side on the outer side wall of the casing 101.
  • the heat dissipation fins 140 increase the heat dissipation area of the casing, which is beneficial to the rapid heat dissipation of the casing 101.
  • the heat dissipation fins 140 are arranged on the outer side wall of the second casing 120 to ensure that the overall shape of the RTK positioning device 100 is simple.
  • a thermal pad is provided between the circuit board 130 and the inner wall of the casing 101.
  • a thermal pad is provided between the circuit board 130 and the first case 110.
  • the thermal conductive pad may be the abutting portion 114.
  • the heat generated by the GPS module 132 and the radio frequency antenna module 133 can be quickly transferred to the first casing 110 through the thermal conductive pad.
  • a thermally conductive gasket may also be provided between the other electrical modules of the circuit board 130 and the first casing 110 to transfer heat generated by the other electrical modules to the first casing 110 and finally dissipate them.
  • a thermal pad is also provided between the circuit board 130 and the second case 120.
  • An RTK control module 134 and other electrical modules are arranged on the surface of the circuit board 130 facing the second casing 120.
  • the RTK control module 134 and other electrical modules and the second casing 120 are in contact with each other through a thermally conductive gasket.
  • the thermal pad can quickly transfer the heat generated by the RTK control module 134 and other electrical modules to the second casing 120.
  • the antenna plug 135 is provided with a buckle (not shown) for engaging with the antenna feeder 20.
  • the antenna plug 135 is snap-connected to the antenna feeder 20, and can reliably implement data / signal processing and reception.
  • the insertion operation of the antenna plug 135 and the antenna feeder line 20 of this embodiment is convenient and efficient.
  • the buckle may be implemented by a spring plunger or an elastic clamp arm, as long as the buckle connection with the antenna plug 135 can be achieved.
  • a reset button 150 is provided on the other end of the plate body 131 opposite to the antenna plug 135.
  • the reset button 150 passes through the casing and protrudes out of the casing.
  • the reset signal is triggered by the reset button 150.
  • the reset button 150 By pressing the reset button 150 outside the casing 101, the reset button 150 can be reset, and the operation is convenient.
  • the other end of the plate body 131 opposite to the antenna plug 135 is provided with a status indicating device 137.
  • the status indicating device 137 is disposed on the board and is electrically connected to the RTK control module 134, and is used to indicate whether the RTK positioning device 100 is in a reset state.
  • the status indicating device 137 is provided with an indicator light (not shown) and a light guide column 160, and the light guide column 160 is disposed opposite to the indicator light.
  • the side wall of the casing 101 is provided with a light transmission hole 182, and the light transmission hole 182 is opposite to the light guide column 160.
  • the indicator lights show the working status of the status indicating device 137, and the indicators of different working states show different colors of light.
  • the light of the indicator lamp can be transmitted to the outside of the housing 101 through the light guide column 160, and can be observed through the light transmission hole 182, which is convenient for manipulation.
  • a surface of the plate body 131 facing the first casing 110 is a first surface
  • a surface of the plate body 131 facing the second casing 120 is a second surface.
  • the board 131 is provided with a USB module 138.
  • the USB module 138 and the antenna plug 135 are respectively located on two adjacent sides of the board 131, and the USB module 138 is provided on an adjacent side of the board 131 on which the antenna plug 135 is provided.
  • the USB module 138 is provided on the second surface.
  • the casing 101 is provided with a USB interface 118. Specifically, the USB interface 118 is opened on a side wall of the first casing 110.
  • the board 131 is provided with a transceiver module 139.
  • the transceiver module 139 and the antenna plug 135 are respectively located on two adjacent sides of the board 131, and the casing 101 is correspondingly provided with a transceiver interface 119.
  • the transceiver module 139 is disposed on a side of the board 131 where the USB module 138 is provided.
  • the transceiver module 139 is disposed on the second surface.
  • the casing 101 is correspondingly provided with a transceiver interface 119. Specifically, the transceiver interface 119 is opened on a side wall of the first casing 110.
  • the board 131 is provided with a bus module 191.
  • the bus module 191 and the antenna plug 135 are respectively located on two adjacent sides of the board body 131, and the bus 101 is correspondingly provided with a bus interface 181.
  • the bus module 191 is disposed on a side of the board 131 where the USB module 138 is provided.
  • the bus module 191 is provided on the second surface. Specifically, the bus interface 181 is opened on a side wall of the first casing 110.
  • the USB module 138, the transceiver module 139, and the bus module 191 are located on the same side of the board 131, and are all located on the second surface.
  • the USB interface 118, the transceiver interface 119, and the bus interface 181 are located on the same side wall of the first housing 110, which facilitates plugging and unplugging of each interface and easy operation.
  • the drone and its RTK positioning device 100 of this embodiment have at least the following advantages over conventional positioning devices:
  • the distribution of the circuit board 130 is compact and the degree of integration is high.
  • the volume of the circuit board 130 can be reduced, and on the other hand, the number of the circuit boards 130 can be reduced. Therefore, the structure of the entire RTK positioning module is compact and the volume is reduced.
  • both surfaces of the circuit board 130 can conduct heat conduction with the casing 101 through a thermally conductive pad, and the metal casing and the heat dissipation fins 140 can effectively circuit the circuit.
  • the heat generated by the board 130 is quickly dissipated to prevent the circuit board 130 from overheating.
  • the antenna plug 135 is engaged with the antenna feeder 20, which is convenient to operate and easy to implement.
  • the RTK positioning device 100 further includes a power interface 170.
  • the power interface 170 is electrically connected to the GPS module 132, the radio frequency antenna module 133, and the RTK control module 134, respectively.
  • the GPS module 132, the radio frequency antenna module 133, and the RTK control module 134 are powered on through the power interface 170.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

L'invention concerne un dispositif de positionnement RTK et un véhicule aérien sans pilote. Le dispositif de positionnement RTK (100) comprend un boîtier (101) et une carte de circuit imprimé (130), logée à l'intérieur du boîtier (101). La carte de circuit imprimé (130) comprend un corps de carte (131), une surface latérale du corps de carte (131) est pourvue d'un module GPS (132) et d'un module d'antenne radiofréquence (133) tandis que l'autre surface latérale du corps de carte (131) est pourvue d'un module de commande RTK (134) et qu'une extrémité du corps de carte (131), proche du module d'antenne radiofréquence (133), est pourvue de fiches d'antenne (135) permettant de connecter un câble d'alimentation d'antenne. Le véhicule aérien sans pilote (10) comprend le dispositif de positionnement RTK (100). Le véhicule aérien sans pilote permet la disposition de la carte de circuit imprimé au moyen du dispositif de positionnement RTK sans empiler une pluralité de cartes de circuit imprimé, ce qui permet d'économiser la quantité d'espace nécessaire pour agencer des cartes de circuit imprimé et de réduire le volume de l'ensemble du dispositif de positionnement RTK. Par rapport à l'agencement classique d'empilement d'une pluralité de cartes de circuit imprimé, deux surfaces de la carte de circuit imprimé peuvent dissiper uniformément la chaleur, de sorte que la chaleur générée par la carte de circuit imprimé se dissipe plus rapidement, ce qui facilite la dissipation de chaleur globale de l'ensemble du dispositif de positionnement RTK.
PCT/CN2018/092470 2018-06-22 2018-06-22 Dispositif de positionnement rtk et véhicule aérien sans pilote WO2019242014A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2018/092470 WO2019242014A1 (fr) 2018-06-22 2018-06-22 Dispositif de positionnement rtk et véhicule aérien sans pilote
CN201880042048.5A CN110892290A (zh) 2018-06-22 2018-06-22 Rtk定位装置及无人机

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/092470 WO2019242014A1 (fr) 2018-06-22 2018-06-22 Dispositif de positionnement rtk et véhicule aérien sans pilote

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WO2019242014A1 true WO2019242014A1 (fr) 2019-12-26

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CN206818884U (zh) * 2017-03-29 2017-12-29 上海拓攻机器人有限公司 一种双天线差分定位器及含其的无人机
CN207201170U (zh) * 2017-07-20 2018-04-06 深圳市大疆创新科技有限公司 侦听机
CN207242055U (zh) * 2017-08-30 2018-04-17 上海拓攻机器人有限公司 一种无人机飞行数据记录装置及含其的无人机
CN207249123U (zh) * 2017-09-22 2018-04-17 宾得励精科技(上海)有限公司 一种gnss接收机
CN208351006U (zh) * 2018-06-22 2019-01-08 深圳市大疆创新科技有限公司 Rtk定位装置及无人机

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CN111313143A (zh) * 2020-03-27 2020-06-19 中交遥感天域科技江苏有限公司 多频全向无人机管制设备的管制系统布局结构
CN111313143B (zh) * 2020-03-27 2024-02-13 中交遥感天域科技江苏有限公司 多频全向无人机管制设备的管制系统布局结构
CN111313143B9 (zh) * 2020-03-27 2024-03-29 中交遥感天域科技江苏有限公司 多频全向无人机管制设备的管制系统布局结构

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