WO2020082349A1

WO2020082349A1 - High-precision unmanned aerial vehicle flight path measurement system and machine-readable storage medium

Info

Publication number: WO2020082349A1
Application number: PCT/CN2018/112164
Authority: WO
Inventors: 吴旭民; 邓琦蓉; 孙久之
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-10-26
Filing date: 2018-10-26
Publication date: 2020-04-30
Also published as: CN110809747A

Abstract

Disclosed are a high-precision unmanned aerial vehicle flight path measurement system and a machine-readable storage medium. The high-precision unmanned aerial vehicle flight path measurement system comprises a sky end (10), a reference end (30), and a ground device (20), wherein the reference end (30) is used for providing a position reference signal; the sky end (10) is detachably fixed on an unmanned aerial vehicle to be measured, and is used for determining, according to the position reference signal, position information of the unmanned aerial vehicle to be measured; and the ground device (20) is used for determining, according to the position information and an expected flight path of the unmanned aerial vehicle to be measured, the precision of a flight path of the unmanned aerial vehicle to be measured. By means of the highly integrated measurement system, the precision of a flight path of an unmanned aerial vehicle to be measured can be acquired, the control capability and the performance of the unmanned aerial vehicle to be measured can be determined, and the precision of a flight path of an aircraft and user experience of a user can be improved.

Description

High-precision UAV flight trajectory measurement system, machine-readable storage medium

Technical field

The embodiments of the present invention relate to the technical field of control, and in particular, to a high-precision UAV flight trajectory measurement system and a machine-readable storage medium.

Background technique

The track control system is an automatic control system that ensures that the aircraft (such as an unmanned aerial vehicle) is flying according to a predetermined route and realizes a fully automatic flight. Such as agricultural drones need to rely on trajectory planning to achieve precision operations, the flight trajectory measurement system plays an important role in the drones' trajectory planning. The traditional flight trajectory measurement uses a GPS measurement system. Although GPS technology is widely used, for devices such as drones that require high-precision positioning to ensure flight safety and operational safety, the GPS positioning error is greater than a few meters or even tens of meters. In order to obtain higher-precision measurement results, RTK (Real-Time Kinematic) real-time dynamic differential positioning technology is used, but the existing RTK test equipment has a low integration level, and the application of detection on the UAV requires manual recording and interpretation. The data cannot quickly obtain the required test results, and cannot meet the needs of the general users.

Summary of the invention

Embodiments of the present invention provide a high-precision UAV flight trajectory measurement system and a machine-readable storage medium.

In a first aspect, an embodiment of the present invention provides a high-precision UAV flight trajectory measurement system, including: sky end, reference end and ground equipment;

The reference end is used to provide a position reference signal;

The sky end is detachably fixed on the unmanned aerial vehicle to be measured, and is used for determining position information of the unmanned aerial vehicle to be measured according to the position reference signal;

The ground equipment is configured to determine the flight trajectory accuracy of the unmanned aerial vehicle to be measured according to the position information and the expected flight trajectory of the unmanned aerial vehicle to be measured.

In a second aspect, an embodiment of the present invention provides a machine-readable storage medium having a plurality of computer instructions stored on the machine-readable storage medium, and the computer instructions are executed to implement the steps of the flight trajectory measurement system according to the first aspect. .

As can be seen from the above technical solution, in this embodiment, a sky end is detachably fixed on the unmanned aerial vehicle to be measured, through which the spatial position of the unmanned aerial vehicle to be measured can be obtained, and then the ground equipment returns according to the sky end The spatial position and expected flight trajectory can determine the flight trajectory accuracy of the UAV to be measured. It can be seen that the embodiments of the present invention can obtain the accurate flight trajectory progress through the above flight trajectory measurement system, and use the acquired flight trajectory accuracy of the unmanned aerial vehicle to be measured to determine the maneuverability and performance of the unmanned aerial vehicle to be measured. The accuracy of the flight trajectory of the man-machine provides a reference basis to improve the user experience.

BRIEF DESCRIPTION

In order to more clearly explain the technical solutions in the embodiments of the present invention, the drawings required in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without paying any creative labor, other drawings can also be obtained based on these drawings.

1 is a schematic diagram of a high-precision UAV flight trajectory measurement system applied to an UAV provided by an embodiment of the present invention;

2 is a structural block diagram of a high-precision UAV flight trajectory measurement system provided by an embodiment of the present invention;

3 is a structural block diagram of another high-precision UAV flight trajectory measurement system provided by an embodiment of the present invention;

4 is a schematic flowchart of determining the accuracy of a flight trajectory according to the degree of coincidence provided by an embodiment of the present invention;

5 is a schematic flowchart of determining the accuracy of a flight trajectory according to positioning errors provided by an embodiment of the present invention;

6 is a schematic flowchart of determining the accuracy of a flight trajectory according to an average value of positioning errors provided by an embodiment of the present invention;

7 is another schematic flowchart of determining the accuracy of a flight trajectory according to an average value of positioning errors provided by an embodiment of the present invention;

8 is another schematic flowchart of determining the accuracy of a flight trajectory according to an average value of positioning errors provided by an embodiment of the present invention;

9 is a schematic diagram of a workflow of a high-precision UAV flight trajectory measurement system provided by an embodiment of the present invention;

10 is a schematic diagram of a desired flight trajectory and actual flight trajectory provided by an embodiment of the present invention;

11 is a block diagram of another high-precision UAV flight trajectory measurement system provided by an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.

To this end, the embodiments of the present invention provide a high-precision UAV flight trajectory measurement system, which is based on RTK (Real-Time Kinematic) real-time dynamic differential positioning technology, which can be used for UAV factory inspection, UAV Trajectory correction, agricultural drone operation trajectory measurement, industry application drone operation test and other scenarios.

Please refer to Figure 1. Add at least one sky end to the UAV to be measured, and determine the position information of the UAV to be measured through the cooperation of the sky end and the reference end and the ground equipment. The measurement accuracy of the position information can reach the centimeter level . Among them, the reference end can be defaulted to the origin of flight coordinates, the communication connection between the sky end and the ground equipment, the sky end can send the position information relative to the reference end to the ground equipment, and the ground equipment can be based on the position information of the drone to be measured Perform data processing with the planned or expected flight path of the UAV in advance to determine the accuracy of the flight path of the UAV to be measured. The trajectory accuracy can

Please refer to FIG. 1, a high-precision UAV flight trajectory measurement system, including: sky terminal 10, ground equipment 20 and reference terminal 30.

The reference terminal 30 is used to provide a position reference signal.

The sky end 10 is detachably fixed on the unmanned aerial vehicle to be measured, and is used to determine the position information of the unmanned aerial vehicle to be measured according to the position reference signal;

The ground device 20 is used to determine the accuracy of the flight path of the unmanned aerial vehicle to be measured according to the position information and the expected flight path of the unmanned aerial vehicle to be measured.

So far, in this embodiment, a sky end is detachably fixed on the drone to be measured, for example, the sky end is bound to the drone to be measured, or the sky end is glued to the drone to be measured. The space position of the unmanned aerial vehicle to be measured can be obtained through the sky end, and then the ground equipment can determine the flight track accuracy of the unmanned aerial vehicle to be measured according to the space position returned by the sky end and the desired flight trajectory preset by the user. It can be seen that, in this embodiment, by acquiring the flight trajectory accuracy of the unmanned aerial vehicle to be measured, the control capability and various flight performances of the unmanned aerial vehicle to be measured can be determined, which can improve the flight trajectory accuracy of the aircraft and enhance the user experience.

In this embodiment, the reference terminal 30 can be used as the reference object of the drone flight trajectory measurement system provided in this embodiment. The position coordinate point of the reference terminal 30 in space can be understood as the origin of coordinates, and the position reference signal is the reference terminal 30 Location information coordinates. In addition, the reference terminal 30 may broadcast its position reference signal into the space according to a set period, so that the corresponding target object (such as the sky terminal 10) receives the position reference signal. In an embodiment, the position reference signal provided by the reference terminal 30 is a carrier phase signal.

In this embodiment, the sky terminal 10 may be an electronic device with computing capability and communication capability, which may obtain a position reference signal, and the manner of obtaining the position reference signal may include the following methods:

In the first way, referring to FIG. 2, the reference terminal 30 is in communication with the sky terminal 10 so that the sky terminal 10 can directly receive the position reference signal provided by the reference terminal 30.

Method 2, referring to FIG. 3, the reference terminal 30 is in communication connection with the ground device 20, so that the ground device 20 can receive the position reference signal provided by the reference terminal 30, and then the ground device 20 connects the position reference through the communication connection with the sky terminal 10 The signal reaches the sky side 10. In this way, the sky terminal 10 can indirectly receive the position reference signal provided by the reference terminal 30. To facilitate understanding, the communication path of the position reference signal in FIG. 3 is indicated by a dotted line.

Method 3: If the distance between the sky terminal 10 and the ground equipment 20 and the reference terminal 30 is relatively long, a relay device with stronger radiation capability may be provided. The relay device may be in communication connection with the reference terminal 30 or the ground device 20, and the relay device forwards the position reference signal to the sky terminal 10.

It is understandable that the technician can select an appropriate method according to the specific scenario. In the case where the sky terminal 10 can receive the position reference signal, the corresponding solution also falls within the protection scope of the present application.

Then, the sky terminal 10 can determine its own position information according to the position reference signal. Taking the position reference signal including the position information, angle information and transmission time of the reference terminal 30 as an example for description:

For example, the sky terminal 10 can calculate the relative distance between the sky terminal 10 and the reference terminal 30 according to the transmission time, the reception time of the position reference signal, and the speed of light; then, the sky terminal 10 can determine the sky terminal according to the relative distance and position information Where the sphere (or hemisphere) is; after that, the sky end 10 can determine the position information of the sky end 10 according to the sphere and angle information.

As another example, the sky terminal 10 can calculate the relative distance between the sky terminal 10 and the reference terminal 30 according to the transmission time, the reception time of the position reference signal, and the speed of light; then, under the spatial coordinate system with the reference terminal 30 as the origin, according to The relative distance and angle information can calculate the position offsets of the sky end 10 and the reference end 30 on the x-axis, y-axis, and z-axis, so that the space position coordinates of the sky end 10, that is, the position information of the sky end 10 can be obtained.

For another example, if the position reference signal is a carrier phase signal, the sky terminal 10 can obtain the position information of the UAV to be measured according to the two position reference signals. For example, the sky terminal 10 can obtain the moving distance of the sky terminal 10 according to the change amount of the carrier phase and the wavelength in the two position reference signals. By acquiring the moving distance multiple times, the relative distance between the sky terminal 10 and the reference terminal 30 can be obtained. Among them, the carrier phase measurement principle can refer to the relevant literature, which will not be repeated here.

It should be noted that the technician can adjust the parameter composition of the position reference signal according to the specific scenario. In the case where the sky terminal 10 can obtain position information according to the position reference signal, the corresponding solution falls within the protection scope of the present application.

It should also be noted that the technician can also adjust the manner in which the sky terminal 10 determines the position information according to the position reference signal according to the specific scenario. When the position information can be obtained, the corresponding solution falls within the protection scope of the present application.

It is understandable that, since the sky end 10 in this embodiment is detachably fixed on the unmanned aerial vehicle to be measured, the sky end 10 can also determine the position information of the unmanned aerial vehicle to be measured according to its own position information. In other words, the sky terminal 10 can determine the position information of the drone to be measured according to the position reference signal, including the following methods:

Method 1: If the UAV to be measured is small in size, for example, consumer-grade aerial photography UAVs such as DJI's "Yu MVAIC2", in this scenario, Sky 10 can directly use its position information as the UAV to be measured. Location information.

Method 2: If the drone to be measured is large, for example, the agricultural plant protection machine such as DMG's "MG-1S", the position information of the sky 10 in this scenario will directly exist as the actual position of the drone to be measured. error. Therefore, in this embodiment, the sky end 10 may include at least two antenna components. The main body of the sky terminal 10 and at least two antenna components can be connected by a wire or a flexible circuit board, so that the technician can detachably fix the at least two antenna components at different positions of the UAV to be measured. Since the distance between each antenna component and the reference terminal 30 is different, the timing of receiving the same position reference signal is also different. In other words, for the same position reference signal, the sky terminal 10 can calculate at least two pieces of position information. Then, the sky terminal 10 determines the position information of the unmanned aerial vehicle to be measured according to the relationship between the fixed positions of the at least two antenna components at the fixed position of the unmanned aerial vehicle to be measured.

It is understandable that in this embodiment, fixing at least two antenna components of the sky end 10 at different positions of the UAV to be measured means that at least two antenna components are each fixed in one position, and the positions do not overlap or are adjacent The distance between the two positions is large enough to reflect the position information of different parts of the UAV to be measured as much as possible, so as to avoid the position information of the UAV to be measured (such as flip, oblique flight, dive, etc.) Impact. In this embodiment, taking the sky end 10 including two antenna components as an example:

Method one, technicians can detachably fix the two antenna components on the drone to be measured, and then the sky terminal 10 uses the position reference signal to determine the position information, through the two position information and the drone to be measured (self The actual position of the carrying position detection device) determines the matching relationship between the installation position of the antenna component and the actual position of the drone to be measured. After that, the sky terminal 10 can obtain the position information of the unmanned aerial vehicle by using the matching relationship and the re-determined position information.

Method 2: The antenna components can be fixed symmetrically with the UAV to be measured as the reference object, and with the UAV to be measured in the horizontal state as the reference. The symmetrically fixed positions can be: nose position and tail position, two aircraft The wing is away from the top of the fuselage or the upper side of the fuselage and the belly of the fuselage. In this way, in this embodiment, through the symmetrical setting, the intermediate point between the fixed positions of the two antenna components can be used as the position of the drone to be measured, which is convenient for calculation.

It is understandable that if the number of antenna components is greater than or equal to 3, the corresponding plane or sphere can be obtained based on the fixed position of the antenna component, and then the position information between the plane or sphere and the position information of the drone to be measured can be determined For the matching relationship, the location information of the unmanned aerial vehicle to be detected can be obtained by using the matching relationship and the re-determined position information. Reference may be made to the contents of Mode 1 and Mode 2, which will not be repeated here.

After that, the sky terminal 10 can send the determined position information of the unmanned aerial vehicle to be detected to the ground device 20 through the communication connection with the ground device 20.

In this embodiment, before determining the flight accuracy, the ground device 20 may also obtain the desired flight trajectory of the drone to be measured, which may include the following methods:

Manner 1: The desired flight trajectory is pre-stored in the ground equipment 20. In this mode, the technician can store the desired flight trajectory in the ground device 20. In an embodiment, each UAV to be measured is flying the same desired flight trajectory for measurement, and the desired flight trajectory can be directly solidified in the ground device 20, thereby reducing the number of setting by the technician.

Accordingly, the technician can set the desired flight trajectory of the UAV to be detected according to the desired flight trajectory stored in the ground device 20. For example, if the flight trajectory is expected to be a rectangle, the coordinates of the four vertices of the rectangle can be set.

Manner 2: The ground equipment 20 can be connected to the control terminal of the unmanned aerial vehicle to be measured. If there is a need to measure the UAV to be measured, the technician can input the desired flight trajectory to the UAV to be measured through the control terminal. The control terminal may also send the desired flight trajectory to the ground device 20 through the communication connection. In this way, the ground device 20 can obtain the desired flight trajectory.

Manner 3: The ground device 20 can be connected to the unmanned aerial vehicle to be measured, so that when there is a desired flight trajectory in the unmanned aerial vehicle to be measured, the unmanned aerial vehicle to be measured can send the desired flight trajectory to the ground equipment 20. In this way, the ground device 20 can obtain the desired flight trajectory.

It should be noted that in this embodiment, the technician can adjust the manner in which the ground device 20 obtains the desired flight trajectory of the unmanned aerial vehicle to be measured according to the specific scenario, and the corresponding solution falls within the protection scope of the present application.

In this embodiment, the ground device 20 may determine the flight trajectory accuracy of the drone to be measured according to the position information characterizing the drone to be measured and its expected flight trajectory. Ways to obtain flight path accuracy can include:

Method one, trajectory fitting. The ground device 20 can obtain the actual flight trajectory of the drone to be measured according to the received position information, and then determine the flight trajectory accuracy of the aircraft to be measured according to the actual flight trajectory and the expected flight trajectory.

In a scenario, the ground device 20 determining the flight trajectory accuracy of the aircraft to be measured according to the actual flight trajectory and the expected flight trajectory may include:

Referring to FIG. 4, the ground device 20 calls a preset fitting algorithm, and determines the coincidence degree of the actual flight trajectory and the expected flight trajectory by using the fitting algorithm (corresponding to step 401), and then determines the coincidence degree as the flight trajectory accuracy of the unmanned aerial vehicle (Corresponding to step 402).

The fitting algorithm may include at least one of the following: straight line fitting algorithm, curve fitting algorithm, and spherical fitting algorithm. The technician can also select different fitting algorithms according to the specific scene and the shape of the desired flight trajectory. In the case where the ground device 20 can determine the coincidence of the actual flight trajectory and the desired flight trajectory, the corresponding solution falls within the protection scope of the present application.

In another scenario, if the desired flight trajectory is a straight line or a smooth curve, the ground device 20 may obtain the ratio of the length of the actual flight trajectory to the length of the desired flight trajectory, and use this ratio as the flight trajectory accuracy of the UAV to be detected.

In yet another scenario, the ground device 20 can also obtain the area of the actual flight trajectory and the set trajectory and the area of the desired flight trajectory and the set trajectory, and use the ratio of the two areas as the flight trajectory accuracy of the UAV to be detected.

Method 2: Compare the positions. Referring to FIG. 5, the ground device 20 sequentially compares the received position information with the position information in the desired flight trajectory, and calculates the positioning error between the two position information (corresponding to step 501). Then, the ground device 20 determines the flight trajectory accuracy of the unmanned aerial vehicle to be measured according to the positioning errors of all the received position information (corresponding to step 502).

In some scenarios, referring to FIG. 6, the ground device 20 may obtain the average value of the positioning error corresponding to all position information of the desired flight trajectory (corresponding to step 601), and then determine the average value as the flight trajectory accuracy of the drone to be measured (corresponding Step 602).

In other scenarios, referring to FIG. 7, the ground device 20 may obtain a preset threshold value of the trajectory accuracy (corresponding to step 701), for example, 1 to 5%. Then, the ground device 20 may acquire the positioning error of each position information, and then compare the positioning error of each position information with the trajectory accuracy threshold, and count the number N of positioning errors greater than or equal to the trajectory accuracy threshold (corresponding to step 702). Finally, the ground device 20 can determine the ratio of the number N to the number of position information, and use the ratio as the accuracy of the flight path of the drone to be measured (corresponding to step 703).

Manner 3: The desired flight trajectory may include multiple segments. In some scenarios, the desired flight trajectory may include the first flight trajectory, the lateral flight trajectory, and the second flight trajectory. Application plan.

First, referring to FIG. 8, after the unmanned aerial vehicle to be measured follows the first flight trajectory, the ground device 20 corrects the positioning error of the sky end 10 and the unmanned aerial vehicle to be measured according to the first flight trajectory and position information (corresponding to step 801).

It is understandable that the position information in this step refers to the position information between the two end points of the first flight trajectory. The ground device 20 can generate a corrected flight trajectory based on the position information, and then correct the flight trajectory and the first flight trajectory to determine the positioning error of the sky end 10 and the unmanned aerial vehicle to be measured, that is, the position information determined by the sky end 10 and Measure the positioning error between the actual position information of the UAV.

Then, referring to FIG. 8 continuously, the unmanned aerial vehicle to be measured flies according to the lateral flight trajectory and according to the second flight trajectory. The ground device 20 determines the flight trajectory accuracy of the drone to be measured according to the second flight trajectory, the position information sent by the sky terminal 10, and the positioning error (corresponding to step 802). It is understandable that the ground device 20 can determine the accuracy of a flight trajectory according to the second flight trajectory and position information, and the determination method can refer to the solutions of the method 1 and method 2, which will not be repeated here. The ground device 20 adjusts the flight trajectory accuracy according to the positioning error, so that the adjusted flight trajectory accuracy is taken as the flight trajectory accuracy of the UAV to be measured.

It should be noted that the technician can adjust the scheme for determining the accuracy of the flight trajectory according to the scene and the desired flight trajectory. When the ground device 20 can obtain the accuracy of the flight trajectory, the corresponding scheme falls within the protection scope of the present application.

It should be noted that the above embodiments describe a solution for acquiring the flight path accuracy by the ground device 20. In some embodiments, the ground device 20 may include a communication component and a test program. The communication component may be in communication with the sky terminal 10, the reference terminal 30, or the unmanned aerial vehicle to be measured, and may receive the position information sent by the sky terminal 10. During the running of the test program, the accuracy of the flight path of the unmanned aerial vehicle to be measured can be determined according to the position information and the expected flight path of the unmanned aerial vehicle to be measured. Repeat again.

9 and 10, a workflow of a high-precision UAV flight trajectory measurement system includes:

The sky end 10 is detachably fixed on the unmanned aerial vehicle to be measured, and then the unmanned aerial vehicle to be measured is controlled to fly to point A, and the ground equipment 20 records the position information of the point A. Then, the drone to be measured is controlled to continue flying to point B, and the ground equipment 20 records the position information of point B.

The sky end 10 acquires the traversing flight trajectory (line segment BC) and calculates the position information of points C and D, where the line segment CD is the desired flight trajectory. Continuing to control the UAV to be measured from point B to point C, and from point C to point D, the ground equipment 20 records the position information of points C and D.

Then, the ground device 20 determines the actual flight trajectory of the line segment C'D 'based on the position information of points C and D.

Finally, the ground equipment 20 can obtain the flight trajectory accuracy according to the desired flight trajectory and the actual flight trajectory, or the ground equipment 20 can compare the position information of each point in the desired flight trajectory with the position information obtained during the flight of the UAV to be measured, The accuracy of the flight trajectory can also be obtained. Finally, the ground equipment 20 can output the flight trajectory accuracy result.

In some embodiments, referring to FIG. 11, a high-precision UAV flight trajectory measurement system may further include a removable device 40, such as a notebook computer, a tablet computer, a desktop computer, and a mobile phone. The mobile device 40 can be connected to the ground device 20 in a wired or wireless manner, for example, the wired method can be a USB bus connection, or the wireless method can be a Bluetooth connection, a WiFi connection, etc. The flight information of the aircraft is sent to the mobile device 50. The movable device 40 can display the flight information of the drone to be measured through the display device.

It is understandable that the flight information of the unmanned aerial vehicle to be measured includes at least one of the following: speed, acceleration, altitude, heading, power, flight status, desired flight trajectory, and actual flight trajectory. Of course, the flight information may also include flight trajectory accuracy. The technician can adjust the parameters of the flight information according to the specific scenario, which is not limited here.

In some embodiments, the scheme for the ground device 20 to obtain the flight trajectory accuracy may also be completed by the mobile device 40. In this scenario, the test program may be run on the mobile device 40. In other words, in the process of acquiring and displaying flight information, the movable device 40 can also receive the position information sent by the ground device 20 and complete the work of determining the flight trajectory according to the position information and the desired trajectory information. For a solution in which the mobile device 40 determines the flight trajectory according to the position information and the desired trajectory information, reference may be made to the content of the foregoing embodiments, and details are not described herein again.

In addition, the desired flight trajectory acquired by the mobile device 40 may come from the control terminal, the unmanned aerial vehicle to be measured, the ground device, or read locally.

An embodiment of the present invention also provides a machine-readable storage medium, which stores a number of computer instructions, and when the computer instructions are executed, the steps of the above-mentioned flight trajectory measurement system are implemented. For details, refer to The contents of the above embodiments will not be repeated here.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations There is any such actual relationship or order. The terms "include", "include", or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device that includes a series of elements includes not only those elements, but also others that are not explicitly listed Elements, or also include elements inherent to such processes, methods, objects, or equipment. Without more restrictions, the element defined by the sentence "include one ..." does not exclude that there are other identical elements in the process, method, article or equipment that includes the element.

The detection devices and methods provided by the embodiments of the present invention have been described in detail above. Specific examples are used in the present invention to explain the principles and implementation of the present invention. The descriptions of the above embodiments are only used to help understand the methods of the present invention. And its core idea; for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and scope of application. In summary, the content of this specification should not be understood as a limitation of the present invention .

Claims

A high-precision UAV flight trajectory measurement system, characterized by including: sky end, reference end and ground equipment;

The reference end is used to provide a position reference signal;

The sky end is detachably fixed on the unmanned aerial vehicle to be measured, and is used for determining position information of the unmanned aerial vehicle to be measured according to the position reference signal;

The ground equipment is configured to determine the flight trajectory accuracy of the unmanned aerial vehicle to be measured according to the position information and the expected flight trajectory of the unmanned aerial vehicle to be measured.
The flight trajectory measurement system according to claim 1, wherein the sky end is in communication with the reference end to receive a position reference signal provided by the reference end.
The flight trajectory measurement system according to claim 1, wherein the ground device is respectively connected to the reference terminal and the sky terminal, and the ground terminal receives the position of the reference terminal received from the reference terminal The reference signal is forwarded to the sky end.
The flight trajectory measurement system according to claim 1, further comprising a mobile device, the mobile device and the ground device are connected in a wired or wireless manner to connect the The flight information of the man-machine is displayed by the display device in the movable device.
The flight trajectory measurement system according to claim 4, wherein the desired flight trajectory of the unmanned aerial vehicle to be measured is preset in the ground equipment or the movable equipment.
The flight trajectory measurement system according to claim 5, wherein the desired flight trajectory in the drone to be measured is input by the user from the drone control terminal.
The flight trajectory measurement system according to claim 5, wherein the ground device or the movable device establishes a communication connection with the drone control terminal, in the ground device or in the movable device The desired flight trajectory is the desired flight trajectory input by the user and forwarded by the UAV control terminal.
The flight trajectory measurement system according to claim 1, wherein the sky end includes at least two antenna components; the two antenna components are respectively detachably fixed to different positions of the UAV to be measured ;

The sky terminal is also used to calculate position information based on the position reference signals received by each antenna component, and determine the final position information of the unmanned aerial vehicle to be measured based on the position information corresponding to each antenna component.
The flight trajectory measurement system according to claim 8, characterized in that, in the case where the fixed positions of the at least two antenna components are symmetrical with respect to the aircraft fuselage, the sky end is used based on the antenna components The corresponding position information determines the final position information of the unmanned aerial vehicle to be measured, including:

The position information of the intermediate point at which the binding positions of the two antenna components are bound is determined based on the spatial position corresponding to each antenna component, and the spatial position of the intermediate point is used as the final position information of the UAV to be measured.
The flight trajectory measurement system according to claim 1, wherein the ground equipment includes a communication component and a test program; the communication component is used to receive position information sent by the sky end; and the test program is used to The position information and the expected flight trajectory of the drone to be measured determine the flight trajectory accuracy of the drone to be measured.
The flight trajectory measurement system according to claim 10, wherein the test program can be run on a movable device, and the communication component and the movable device are communicatively connected.
The flight trajectory measurement system according to claim 1, wherein the desired flight trajectory includes a first flight trajectory, a lateral flight trajectory, and a second flight trajectory;

The ground equipment is used to determine the flight trajectory accuracy of the drone to be measured according to the position information and the expected flight trajectory of the drone to be measured, including:

The ground device corrects the positioning error of the sky end and the unmanned aerial vehicle to be measured according to the first flight trajectory and the position information;

The ground device determines the flight trajectory accuracy of the UAV to be measured according to the second flight trajectory, the position information, and the positioning error.
The flight trajectory measurement system according to claim 1, wherein the ground device is used to determine the flight trajectory of the drone to be measured according to the position information and the desired flight trajectory of the drone to be measured Accuracy, including:

The ground device sequentially calculates each position information and the positioning error corresponding to the position information in the desired flight trajectory;

The ground equipment determines the flight trajectory accuracy of the unmanned aerial vehicle to be measured according to the positioning error of each position information.
The flight trajectory measurement system according to claim 13, wherein the ground device is used to determine the flight trajectory accuracy of the UAV to be measured according to the positioning error of each position information, including:

Obtaining the average value of the positioning errors of all the position information corresponding to the desired flight trajectory;

The average value is determined as the flight trajectory accuracy of the UAV to be measured.
The flight trajectory measurement system according to claim 13, wherein the ground device is used to determine the flight trajectory accuracy of the UAV to be measured according to the positioning error of each position information, including:

Obtain the preset trajectory accuracy threshold;

Comparing the positioning error of each position information with the trajectory accuracy threshold to obtain the positioning errors of N position information greater than or equal to the trajectory accuracy threshold;

Determine the ratio of the number N to the number of position information, and use the ratio as the flight trajectory accuracy of the UAV to be measured.
The flight trajectory measurement system according to claim 1, wherein the ground device is used to determine the flight trajectory of the drone to be measured according to the position information and the desired flight trajectory of the drone to be measured Accuracy, including:

Determine the actual aircraft trajectory of the drone to be measured according to the position information;

The flight trajectory accuracy of the UAV to be measured is determined according to the actual aircraft trajectory and the desired flight trajectory.
The flight trajectory measurement system according to claim 16, wherein the ground device is used to determine the flight trajectory accuracy of the UAV to be measured according to the actual aircraft trajectory and the desired flight trajectory, including:

Determine the degree of coincidence between the actual aircraft trajectory and the desired flight trajectory;

It is determined that the coincidence degree is the flight trajectory accuracy of the unmanned aerial vehicle to be measured.
The flight trajectory measurement system according to claim 1, wherein the position reference signal is a carrier phase signal.
A machine-readable storage medium, characterized in that a number of computer instructions are stored on the machine-readable storage medium, and when the computer instructions are executed, the steps of the flight trajectory measurement system according to any one of claims 1 to 18 are realized .