CN102890283A - Comprehensive location method and comprehensive location system of point-to-point location and GPS (Global Positioning System) satellite location of unmanned aerial vehicle - Google Patents
Comprehensive location method and comprehensive location system of point-to-point location and GPS (Global Positioning System) satellite location of unmanned aerial vehicle Download PDFInfo
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- CN102890283A CN102890283A CN 201210437141 CN201210437141A CN102890283A CN 102890283 A CN102890283 A CN 102890283A CN 201210437141 CN201210437141 CN 201210437141 CN 201210437141 A CN201210437141 A CN 201210437141A CN 102890283 A CN102890283 A CN 102890283A
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Abstract
The invention relates to a location technology of an unmanned aerial vehicle, and particularly relates to a comprehensive location method and a comprehensive location system of point-to-point location and GPS (Global Positioning System) satellite location of an unmanned aerial vehicle. In the comprehensive location system, a searching position indicator is positioned on the unmanned aerial vehicle, a point-to-point location signal and a GPS location signal can be received simultaneously; and when a satellite communication signal is good, the satellite communication signal is located by adopting a GPS. When the satellite communication signal is shielded, the satellite communication signal is switched to be the point-to-point location signal. Because the searching locator and a signal emitter in the point-to-point location are positioned on the ground, the signal strength and the coverage range are superior to those of the GPS satellite communication.
Description
Technical field:
The present invention relates to the positioning navigation method of unmanned plane, is the comprehensive location technology that unmanned plane uses point-to-point location and gps satellite location specifically.
Background technology:
The unmanned plane location navigation mainly uses following three kinds of location technologies at present:
(1) inertial navigation system
Determine the acceleration of unmanned plane by accelerometer, determine angular velocity by gyroscope.The shortcoming of inertial navigation system is the accumulation along with the time, and the precision of location can reduce, and mistake increases.Very large deviation can occur in the position of former and later two time points.
(2) global positioning system
This type systematic includes the gps system of the U.S., the Galileo system in Europe, Muscovite glonass system, the dipper system of China etc.These systems all are comprised of the satellite of near-earth orbit.The precision of location is determined by the geometric relationship of triangulation.Because these satellites are kept in motion all the time, cause the geometric relationship of triangulation to have error.Another problem of satellite positioning navigation is exactly that signal is very faint, and signal can not enter buildings and easily by atmospheric envelope and ionospheric interference.The out of true of the clock of satellite signal receiver self also can cause the error of locating.
(3) image auxiliary positioning navigational system
This type systematic needs in advance storage topographic(al) data figure in the Installed System Memory of unmanned plane, does associative operation by the real-time three-dimensional land map of taking of unmanned plane and the topographic(al) data figure of storage, thereby realizes the location of unmanned plane.This method is only applicable to unmanned plane in the location navigation task of known specific region and position.
China Patent No. ZL03105359.9 has narrated the ultimate principle of point-to-point communication.The radiowave that sends by transmitter, and the radiowave that the search orientator sends according to the transmitter that detects calculates the direction of search orientator and transmitter and distance to realize the location.But the use of the method has distance limit, can only be in 8 kilometer range, in case the distance between transmitter and the search orientator surpasses 8 kilometers, the method just can not be used so.
Summary of the invention
The comprehensive locator meams that the present invention adopts point-to-point location technology to combine with the GPS global-positioning technology, the accurate location of realizing unmanned plane.The method can overcome the GPS GPS can't locate or locate inaccurate shortcoming owing to what the signal screen covert produced, can support the interior of building location simultaneously.Simultaneously, the method also can overcome the distance limit of point-to-point location,
The search orientator is housed on the unmanned plane, and this orientator can receive gps signal and point-to-point positioning signal simultaneously.When the satellite communication signal is good, adopt the GPS location, when satellite-signal is subject to shielding, adopt point-to-point locator meams, orientator is realized the location by communicating with signal transmitter.
The search orientator is realized the location by communicating with signal transmitter.The transmitting terminal of transmitter can be launched the wireless signal of unique representative transmitter identity information code, and the orientator that this signal is positioned on the unmanned plane receives.
Transmitter must have fixing known positional information, the position reference point the when positional information of transmitter will be as point-to-point location.The search orientator can filter out the radiowave that the transmitter that docks with it is launched, and independently calculates the angle and distance of own and transmitter.
Transmitter can comprise an active device, is used for receiving the activation signal that the search orientator sends, and the effect of activation signal is to activate transmitter: during without activation signal, transmitter enters the sleep for electricity saving pattern, is in dormant state.
The user can be by movement locus and the orientation of network inquiry unmanned plane
The orientation of search orientator relative transmitter shows and comprises at least a kind of in following several mode:
I, left and right or upper and lower two direction indications of demonstration;
II, 4 directions that show 90 degree five equilibriums and the direction of more refinement angle;
III, show simultaneously the angle and distance of unmanned plane and transmitter in order to lower at least a method
(1) with the position of point or other icon representation transmitter, reflected the angle and distance of unmanned plane range transmission instrument apart from the direction of this icon and distance by central point.
(2) with arrow or point apart from the angle of central point reflection direction, with color, brightness, density, size or numeral distance.
(3) map software, the geographic position of display-object on map are installed.
Unmanned plane localization method of the present invention and system can in the situation that the GPS GPS lost efficacy, by the mode of point-to-point location, continue unmanned plane is located accurately.
Description of drawings
Signal was often by shielding of building when Fig. 1 represented that unmanned plane only relies on the GPS location navigation
Fig. 2 represents unmanned plane in the situation of GPS locate failure, can utilize point-to-point locator meams to realize accurately location
Fig. 3 is the structural representation of transmitter and receiving instrument
Embodiment:
This positioning system is used for location and the navigation of unmanned plane.System comprises transmitter and two chief components of search orientator.Transmitter itself has known fixed position, and perhaps transmitter itself can be realized self poisoning by GPS.The search orientator is installed on the unmanned plane, and unmanned plane can receive the signal from transmitter and GPS simultaneously.
When gps signal in order the time, unmanned plane is located by gps satellite.The user can directly pass through map software, shows position and the track of unmanned plane at map.
When the gps signal situation that detects when unmanned plane was bad, unmanned plane sent activation signal by the search orientator near transmitter, and point-to-point communication is activated.
The search orientator is by self entrained identities match code, and the wireless signal that sends with the transmitter of communicating by letter with it mates, and obtains self with respect to distance and the angle of transmitter.
When the search orientator was communicated by letter with a plurality of transmitters simultaneously, searching instrument had a relative distance and angle with respect to each transmitter, and at this moment the position of searching instrument is on the intersection point of a plurality of circular arcs.
Fig. 3 is transmitter and the structural representation of searching for orientator.Wherein wireless transmitter module 201 is used for the emission radio positioning signal.Processor 202 is for the treatment of various signals.Display end 204 can show current state.Wireless receiving module 203 is used for receiving the radio positioning signal signal that transmitter sends, and sends activation signal to transmitter.Gps signal receiver module 205 can receive the GPS positioning signal.
Claims (6)
1. Positioning System that adopts point-to-point location and GPS location, it is characterized in that: the search orientator is housed on the unmanned plane, and this orientator can receive gps signal and point-to-point positioning signal simultaneously.When the satellite communication signal is good, adopt the GPS location, when satellite-signal is subject to shielding, adopt point-to-point locator meams, orientator is realized the location by communicating with signal transmitter.
2. method and system according to claim 1 is characterized in that: search for orientator by communicating with signal transmitter, realize the location.The transmitting terminal of transmitter can be launched the wireless signal of unique representative transmitter identity information code, and the orientator that this signal is positioned on the unmanned plane receives.
3. method and system according to claim 1, it is characterized in that: transmitter must have fixing known positional information, the position reference point the when positional information of transmitter will be as point-to-point location.
4. method and system according to claim 1 is characterized in that: the search orientator can filter out the radiowave that the transmitter that docks with it is launched, and independently calculates the angle and distance of own and transmitter.
5. method and system according to claim 1, it is characterized in that: transmitter can comprise an active device, be used for receiving the activation signal that the search orientator sends, the effect of activation signal is to activate transmitter: during without activation signal, transmitter enters the sleep for electricity saving pattern, is in dormant state.
6. method and system according to claim 1 is characterized in that: when using GPS location and point-to-point location, middle control end can be inquired about by map software orientation and the movement locus of unmanned plane.
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| CN 201210437141 CN102890283A (en) | 2012-11-06 | 2012-11-06 | Comprehensive location method and comprehensive location system of point-to-point location and GPS (Global Positioning System) satellite location of unmanned aerial vehicle |
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| CN 201210437141 CN102890283A (en) | 2012-11-06 | 2012-11-06 | Comprehensive location method and comprehensive location system of point-to-point location and GPS (Global Positioning System) satellite location of unmanned aerial vehicle |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103345826A (en) * | 2013-07-05 | 2013-10-09 | 深圳市大疆创新科技有限公司 | Remote control terminal of unmanned flight vehicle, as well as flight auxiliary system and method of unmanned flight vehicle |
| CN104536024A (en) * | 2014-10-23 | 2015-04-22 | 深圳九星智能航空科技有限公司 | Self-rescue and signal positioning device for unmanned plane |
| WO2021062670A1 (en) * | 2019-09-30 | 2021-04-08 | 上海飞来信息科技有限公司 | Method for positioning unmanned aerial vehicle, terminal device, and unmanned aerial vehicle |
| CN114397084A (en) * | 2022-01-06 | 2022-04-26 | 吉林大学 | Six-rotor unmanned aerial vehicle aerodynamic characteristic test device and test method thereof |
-
2012
- 2012-11-06 CN CN 201210437141 patent/CN102890283A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103345826A (en) * | 2013-07-05 | 2013-10-09 | 深圳市大疆创新科技有限公司 | Remote control terminal of unmanned flight vehicle, as well as flight auxiliary system and method of unmanned flight vehicle |
| CN104536024A (en) * | 2014-10-23 | 2015-04-22 | 深圳九星智能航空科技有限公司 | Self-rescue and signal positioning device for unmanned plane |
| WO2021062670A1 (en) * | 2019-09-30 | 2021-04-08 | 上海飞来信息科技有限公司 | Method for positioning unmanned aerial vehicle, terminal device, and unmanned aerial vehicle |
| CN114397084A (en) * | 2022-01-06 | 2022-04-26 | 吉林大学 | Six-rotor unmanned aerial vehicle aerodynamic characteristic test device and test method thereof |
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Application publication date: 20130123 |