WO2022000245A1 - Procédé de positionnement d'aéronef, et procédé et appareil de commande pour système de positionnement assisté - Google Patents

Procédé de positionnement d'aéronef, et procédé et appareil de commande pour système de positionnement assisté Download PDF

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Publication number
WO2022000245A1
WO2022000245A1 PCT/CN2020/099166 CN2020099166W WO2022000245A1 WO 2022000245 A1 WO2022000245 A1 WO 2022000245A1 CN 2020099166 W CN2020099166 W CN 2020099166W WO 2022000245 A1 WO2022000245 A1 WO 2022000245A1
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WO
WIPO (PCT)
Prior art keywords
positioning
wireless
aircraft
drone
signal communication
Prior art date
Application number
PCT/CN2020/099166
Other languages
English (en)
Chinese (zh)
Inventor
高建南
龚明
马宁
王焱
赵巍
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/CN2020/099166 priority Critical patent/WO2022000245A1/fr
Publication of WO2022000245A1 publication Critical patent/WO2022000245A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
    • G01S19/11—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters

Definitions

  • the position information of the aircraft determines the position information of the aircraft.
  • the wireless positioning mobile station of each positioning drone According to the wireless signal communication between the wireless positioning mobile station of each positioning drone and a plurality of wireless positioning reference stations in the wireless positioning reference station system on the ground and carrying out the wireless signal with each positioning drone
  • the position information of the wireless positioning reference station communicated to determine the position information of each positioning drone
  • the memory for storing program codes
  • FIG. 2 is an architectural diagram of a positioning system to which an embodiment of the application is applicable;
  • FIG. 3 is another architectural diagram of a positioning system to which an embodiment of the present application is applicable;
  • FIG. 4 is a schematic structural diagram of an unmanned aerial system to which an embodiment of the present application is applicable;
  • FIG. 8 is a schematic structural diagram of a positioning device for an aircraft according to an embodiment of the present application.
  • the positioning system may include a wireless positioning reference station system on the ground and two UAV positioning systems extended in a vertical direction.
  • Figure 2 can be applied to scenarios where the aircraft has positioning requirements at different flight altitudes.
  • the wireless positioning reference station system on the ground may include four wireless positioning reference stations, which may be called wireless positioning reference station A to wireless positioning reference station D respectively.
  • the first UAV positioning system can be called the UAV positioning system T1
  • the UAV positioning system T1 can include 4 positioning UAVs, which can be respectively called positioning Human-machine 1A to positioning drone 1D.
  • the name of the aircraft to be positioned is not limited in this embodiment of the present application. In various embodiments of the present application, the aircraft and the aircraft to be positioned may represent the same meaning.
  • the power system 150 may include one or more electronic governors (referred to as ESCs for short) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motors 152 are connected to the Between the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are arranged on the arm of the unmanned aerial vehicle 110; the electronic governor 151 is used to receive the driving signal generated by the flight control system 160, and provide driving according to the driving signal Electric current is supplied to the motor 152 to control the rotational speed of the motor 152 .
  • ESCs electronic governors
  • the pan/tilt head 120 may include a motor 122 .
  • the PTZ is used to carry a payload, and the payload can be, for example, a photographing device 123 .
  • the flight controller 161 can control the movement of the gimbal 120 through the motor 122 .
  • the pan/tilt 120 may further include a controller for controlling the movement of the pan/tilt 120 by controlling the motor 122 .
  • the gimbal 120 may be independent of the UAV 110 , or may be a part of the UAV 110 .
  • the motor 122 may be a DC motor or an AC motor.
  • the motor 122 may be a brushless motor or a brushed motor.
  • the gimbal may be located on the top of the UAV, or may be located on the bottom of the UAV.
  • the photographing device 123 may be, for example, a device for capturing images such as a camera or a video camera, and the photographing device 123 may communicate with the flight controller and perform photography under the control of the flight controller.
  • the photographing device 123 in this embodiment at least includes a photosensitive element, such as a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor. It can be understood that the photographing device 123 can also be directly fixed on the unmanned aerial vehicle 110, so that the gimbal 120 can be omitted.
  • CMOS Complementary Metal Oxide Semiconductor
  • CCD Charge-coupled Device
  • the display device 130 is located at the ground end of the unmanned aerial vehicle 100 , can communicate with the unmanned aerial vehicle 110 in a wireless manner, and can be used to display the attitude information of the unmanned aerial vehicle 110 .
  • the image captured by the capturing device 123 may also be displayed on the display device 130 .
  • the display device 130 may be an independent device, or may be integrated into the control terminal 140 .
  • the embodiments of the present application do not limit the wireless communication modes supported by the wireless positioning mobile station, for example, may include but are not limited to UWB signal communication, Bluetooth communication, and WIFI communication.
  • the aircraft W1 includes a wireless positioning mobile station, and each positioning drone in the UAV positioning system T1 includes a wireless positioning mobile station, and wireless signal communication can be realized through the wireless positioning mobile station.
  • the wireless positioning mobile station of the aircraft W1 can be controlled to communicate with the wireless positioning mobile station of the positioning drone 1A
  • the wireless positioning mobile station of the aircraft W1 can be controlled to communicate with the wireless positioning mobile station of the positioning drone 1B. communication.
  • the aircraft W1 can perform wireless signal communication with the positioning drone 1C and the positioning drone 1D.
  • S602 Acquire position information of multiple positioning drones that perform wireless signal communication with the wireless positioning mobile station of the aircraft.
  • the wireless signal communication between the wireless positioning mobile station of the aircraft and a plurality of wireless positioning reference stations in the wireless positioning reference station system on the ground and the position information of the wireless positioning reference station that performs wireless signal communication with each positioning drone Determine the position information of the aircraft.
  • the target positioning system is a wireless positioning reference station system on the ground.
  • this embodiment does not limit the definition of the receiving strength of the wireless positioning signal, and the definition of the corresponding receiving strength may be different depending on the transmission mode of the wireless signal.
  • the preset area is not limited in this embodiment.
  • the preset area may be a pre-planned area.
  • the preset area may be determined according to the flight area of the aircraft to be positioned, or adjusted in real time according to the flight area of the aircraft to be positioned.
  • the wireless positioning mobile station of each positioning drone determines the position information of each positioning drone, which may include:
  • the relative position information may include relative distance information and/or relative angle information.
  • the positioning drone when determining the position information of the positioning drone, first determine the relative position information between the positioning drone and the wireless positioning reference station on the ground, and then according to the obtained position information of the wireless positioning reference station and the relative position information to determine the location information of the positioning drone.
  • the relative position information between each positioning drone and the wireless positioning reference station for wireless signal communication is determined according to the wireless positioning signal and the position of the positioning drone.
  • the wireless positioning mobile station for positioning the drone can be used to transmit a wireless positioning signal.
  • the wireless positioning reference station can receive the wireless positioning movement of the positioning drone.
  • Wireless location signal transmitted by the station.
  • the relative position information between the positioning drone and the wireless positioning reference station can be determined by positioning the wireless positioning signal transmitted by the drone and the wireless positioning signal received by the wireless positioning reference station.
  • the distance threshold By setting the distance threshold, it is ensured that the distance between multiple positioning drones is not too small, and the layout rationality of positioning drones in the drone positioning system is improved.
  • the location distribution type indication information is the first location distribution type indication information
  • the plurality of location points are determined according to the first location distribution type indicated by the first location distribution type indication information.
  • FIG. 8 is a schematic structural diagram of a positioning device for an aircraft according to an embodiment of the present application.
  • the aircraft includes a wireless positioning mobile station.
  • the positioning device includes a memory 82 and a processor 81;
  • the processor 81 is also used for:
  • the processor 81 is specifically used for:
  • the target positioning system is the wireless positioning reference station system on the ground.
  • the wireless positioning mobile station of the positioning drone is used to transmit wireless positioning signals
  • the relative position information between each positioning drone and the wireless positioning reference station for wireless signal communication is determined according to the wireless positioning signal and the position of the positioning drone.
  • processor 91 is specifically used for:
  • the location distribution type indication information of the plurality of positioning drones is generated by detecting a user's selection operation of the location distribution type.

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

Abstract

L'invention concerne un procédé de positionnement d'aéronef, et un procédé et un appareil de commande pour un système de positionnement assisté. Le procédé de positionnement d'aéronef consiste à : commander une station mobile de positionnement sans fil d'un aéronef pour être en communication de signal sans fil avec des stations mobiles de positionnement sans fil de multiples véhicules aériens sans pilote positionnés dans un système de positionnement de véhicule aérien sans pilote (S601), les multiples véhicules aériens sans pilote positionnés étant en vol stationnaire dans l'air ; obtenir des informations de localisation des multiples véhicules aériens sans pilote positionnés qui sont en communication de signal sans fil avec la station mobile de positionnement sans fil de l'aéronef (S602) ; et déterminer des informations d'emplacement de l'aéronef en fonction de la communication de signal sans fil entre la station mobile de positionnement sans fil de l'aéronef et les stations mobiles de positionnement sans fil des multiples véhicules aériens sans pilote positionnés dans le système de positionnement de véhicule aérien sans pilote, et les informations d'emplacement des véhicules aériens sans pilote positionnés qui sont en communication de signal sans fil avec l'aéronef (S603). L'exigence de positionnement de l'aéronef est satisfaite, et la portée de la couverture et l'évolutivité d'un système de positionnement sont améliorées.
PCT/CN2020/099166 2020-06-30 2020-06-30 Procédé de positionnement d'aéronef, et procédé et appareil de commande pour système de positionnement assisté WO2022000245A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2020/099166 WO2022000245A1 (fr) 2020-06-30 2020-06-30 Procédé de positionnement d'aéronef, et procédé et appareil de commande pour système de positionnement assisté

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PCT/CN2020/099166 WO2022000245A1 (fr) 2020-06-30 2020-06-30 Procédé de positionnement d'aéronef, et procédé et appareil de commande pour système de positionnement assisté

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220366794A1 (en) * 2021-05-11 2022-11-17 Honeywell International Inc. Systems and methods for ground-based automated flight management of urban air mobility vehicles

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106226803A (zh) * 2016-07-18 2016-12-14 深圳市华信天线技术有限公司 定位方法、装置及无人机
CN107276661A (zh) * 2017-07-25 2017-10-20 陕西师范大学 一种基于无人机群搜救的方法及系统
CN108181631A (zh) * 2017-12-28 2018-06-19 南京航空航天大学 一种多机协同的移动自组织网络局部定位系统和方法
EP3401696A2 (fr) * 2017-05-12 2018-11-14 Skypersonic LLC Système de positionnement terrestre et procédé
CN110244770A (zh) * 2019-04-14 2019-09-17 西安烛龙智能科技有限公司 一种基于uwb定位的无人机精准降落系统
CN110632553A (zh) * 2019-09-23 2019-12-31 深圳一电航空技术有限公司 定位方法、装置、系统、计算机可读存储介质及无人机

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106226803A (zh) * 2016-07-18 2016-12-14 深圳市华信天线技术有限公司 定位方法、装置及无人机
EP3401696A2 (fr) * 2017-05-12 2018-11-14 Skypersonic LLC Système de positionnement terrestre et procédé
CN107276661A (zh) * 2017-07-25 2017-10-20 陕西师范大学 一种基于无人机群搜救的方法及系统
CN108181631A (zh) * 2017-12-28 2018-06-19 南京航空航天大学 一种多机协同的移动自组织网络局部定位系统和方法
CN110244770A (zh) * 2019-04-14 2019-09-17 西安烛龙智能科技有限公司 一种基于uwb定位的无人机精准降落系统
CN110632553A (zh) * 2019-09-23 2019-12-31 深圳一电航空技术有限公司 定位方法、装置、系统、计算机可读存储介质及无人机

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220366794A1 (en) * 2021-05-11 2022-11-17 Honeywell International Inc. Systems and methods for ground-based automated flight management of urban air mobility vehicles

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