CN105717946A - Multi-base-station unmanned aerial vehicle continuous tracking system and method - Google Patents
Multi-base-station unmanned aerial vehicle continuous tracking system and method Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/12—Target-seeking control
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Abstract
The invention discloses a multi-base-station unmanned aerial vehicle continuous tracking system which comprises multiple base stations evenly distributed on the ground and at least two unmanned aerial vehicles.The system is characterized in that the unmanned aerial vehicles and the base stations are provided with data transmission modules for achieving remote communication, and the unmanned aerial vehicles are provided with communication modules for achieving data close-range transmission between the unmanned aerial vehicles.The invention further discloses a multi-base-station unmanned aerial vehicle continuous tracking method which comprises the steps of a, a target is tracked and information is collected: b, electric quantity is detected; c, the nearby base station is judged; d, the second unmanned aerial vehicle rushes to the monitoring position; e, the distance is judged; f, data is transmitted between the unmanned aerial vehicles; g, the first unmanned aerial vehicle is returned and the second unmanned aerial vehicle continues to carry out monitoring.The multi-base-station unmanned aerial vehicle continuous tracking system and method truly achieve continuous seamless monitoring for a tracked target, solve the problem that the target is lost due to the fact that the cruising ability of one unmanned aerial vehicle is insufficient, have the remarkable beneficial effects, and are suitable for being applied and popularized.
Description
The field of inventionthe invention relate to a kind of unmanned plane and follow the tracks of system and method continuously, in particular, particularly relate to a kind of many base stations unmanned plane and follow the tracks of system and method continuously.
The flying power of the existing unmanned plane of background technology is the key factor of restriction development, and when large scope tracing, owing to scope is wide, unmanned plane is difficult to real time operation.Such as in process illegal vehicle followed the tracks of, follow the tracks of distance and be likely to have tens, tens or kilometer up to a hundred, the required distance followed the tracks of is beyond the voyage of existing most unmanned planes, in order to realize the monitoring continuous, seamless to target, it is necessary to the alternately monitoring of two framves or multiple UAVs.
Adopt in the process of many sorties monitoring unmanned, in two frame unmanned plane rotation monitoring processes, the data transmission of task node is the key realizing monitoring continuously, the unmanned plane being carrying out monitor task must transmit monitoring data to the unmanned plane of next sortie accurately and timely, and guarantee follows the trail of target not by with losing.Transmit currently without the man-machine data with next sortie unmanned plane, if forwarded by ground base station, by the impact of geographical environment, if there is the stop of building, it is possible to data can be caused to forward or Forwarding Latency is longer, it is impossible to realize monitoring continuously.
The summary of the invention present invention shortcoming in order to overcome above-mentioned technical problem, it is provided that a kind of many base stations unmanned plane follows the tracks of system and method continuously.
Many base stations unmanned plane of the present invention follows the tracks of system continuously, and including being uniformly distributed in ground multiple base station and to following the trail of at least two frame unmanned planes that target is tracked monitoring, base station is made up of fixed base stations and/or mobile base station；It is particular in that: be provided with the digital transmission module realizing telecommunication between on unmanned plane, base station, unmanned plane is provided with and realizes the communication module of data short range transmission between different unmanned plane；One frame unmanned plane, to following the trail of in object tracking process, occurs when electricity is not enough, another unmanned plane replace the continuous monitoring realized following the trail of target.
Many base stations unmanned plane of the present invention follows the tracks of the tracking of system continuously, is realized by following steps:
A). target following and information gathering, if being called that the unmanned plane of a machine is just performing the monitor task following the trail of target, a machine is to, in the process following the trail of target monitoring, sending the gps coordinate of self, head angle, elevation information to ground base station；B). electric power detection, a machine constantly detects the electricity of self, when the warning value that electricity reaches deficiency being detected, then sends electricity deficiency information to ground base station；C). judging base station nearby, after ground base station receives the electricity deficiency information that a machine sends, the base station that distance one machine is nearest send unmanned plane with charge free and take over a machine continuation monitoring, tracing target, the unmanned plane performing to take over monitor task is called two machines；D). monitoring position rushed towards by two machines, and self up-to-date for machine gps coordinate, head angle, elevation information are forwarded to two machines by base station, and two machines are rushed towards a machine position by the static state of flying at a constant speed that starts to；Two machines, in the process flying to a machine, constantly receive and update the latest position of a machine；E). the judgement of distance, at two machines in the process of a machine, a machine, two machines constantly judge the distance between them, and when distance is less than threshold value S, the communication module of existing closely data transmission all opened by a machine, two machines；F). the data transmission between unmanned plane, after the communication module of a machine, two machines is set up and connected, two machines no longer fly near a machine, in order to two machines bump against；Now, a machine will follow the trail of the license number of target, speed, image information through communication module transmission to two machines；G). the continuation with two machines that returns of a machine is monitored, two machines are according to the license number of tracking target received, speed, image information lock onto target, after lock onto target, transmission task has joined and normal operation information, after one machine receives the information that two machines send, return to base station nearby be charged or change battery operation, continued tracking target is monitored by two machines, it is achieved that the monitoring continuous, seamless to target；Similarly, when two machines cannot be monitored due to electricity deficiency, then taken over its continuation monitoring by other unmanned plane.
Many base stations unmanned plane of the present invention follows the tracks of the tracking of system continuously, and the threshold value S described in step e) is 100m, and the communication module on a machine, two machines is to realize the bluetooth module of 10～100m short-range communication.
The invention has the beneficial effects as follows: many base stations unmanned plane of the present invention follows the tracks of system and method continuously, at a frame unmanned plane (being called a machine) in the process following the trail of target monitoring, when if there is electricity deficiency, being sent another unmanned plane (being called two machines) to fly to a machine position by ground base station nearby, a machine of replacing continues monitoring to following the trail of target.Being truly realized the monitoring continuous, seamless following the trail of target, solve single unmanned plane flying power deficiency and be easily caused target with the problem lost, beneficial effect is notable, is suitable to application.
Meanwhile, adopt between unmanned plane and ground base station and can carry out the digital transmission module of remote-wireless communication and carry out data transmission, with the less gps coordinate of transmitted data amount, head angle, height information, save electricity；After unmanned plane is close with unmanned plane, the communication module (such as bluetooth) adopting short-range communication carries out the transmission of license number, speed, image information, there is the advantage that volume of transmitted data is big, energy consumption is low, data transmission is stable, solve owing to tracking target information cannot or exchange not in time, the generation of the track rejection situation caused.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that many base stations unmanned plane of the present invention follows the tracks of system and method continuously.
In figure: 1 fixed base stations, 2 mobile base stations, 3 follow the trail of target, 4 unmanned plane one machines, 5 unmanned plane two machines.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described with embodiment.
As shown in Figure 1, the many base stations unmanned plane giving the present invention follows the tracks of the schematic diagram of system and method continuously, shown many base stations unmanned plane is followed the tracks of system continuously and is made up of multiple fixed base stations 1, mobile base station 2 and at least two unmanned plane (unmanned plane one machine 4, unmanned plane two machine 5), fixed base stations 1, mobile base station 2 are uniformly arranged on ground, as uniformly laid in certain city, base station realizes the management to unmanned plane and goes along with sb. to guard him.Unmanned plane, base station (fixed base stations 1, mobile base station 2) are provided with and can realize the digital transmission module that remote (such as 20～30km) communicates, to realize the data transmission between base station and unmanned plane.Unmanned plane is provided with realize closely (such as 10～100m) data transmission communication module (such as bluetooth module), when two unmanned planes near time, it is achieved larger data amount, low-power consumption data transmission.
Many base stations unmanned plane of the present invention follows the tracks of the tracking of system continuously, is realized by following steps:
A). target following and information gathering, if being called that the unmanned plane of a machine is just performing the monitor task following the trail of target, a machine is to, in the process following the trail of target monitoring, sending the gps coordinate of self, head angle, elevation information to ground base station；
B). electric power detection, a machine constantly detects the electricity of self, when the warning value that electricity reaches deficiency being detected, then sends electricity deficiency information to ground base station；
C). judging base station nearby, after ground base station receives the electricity deficiency information that a machine sends, the base station that distance one machine is nearest send unmanned plane with charge free and take over a machine continuation monitoring, tracing target, the unmanned plane performing to take over monitor task is called two machines；
D). monitoring position rushed towards by two machines, and self up-to-date for machine gps coordinate, head angle, elevation information are forwarded to two machines by base station, and two machines are rushed towards a machine position by the static state of flying at a constant speed that starts to；Two machines, in the process flying to a machine, constantly receive and update the latest position of a machine；
In this step, by the gps coordinate of a machine, highly, it may be determined that its skyborne particular location, head angle characterizes its heading.
E). the judgement of distance, at two machines in the process of a machine, a machine, two machines constantly judge the distance between them, and when distance is less than threshold value S, the communication module of existing closely data transmission all opened by a machine, two machines；
In this step, threshold value S can be taken as 100m.
F). the data transmission between unmanned plane, after the communication module of a machine, two machines is set up and connected, two machines no longer fly near a machine, in order to two machines bump against；Now, a machine will follow the trail of the license number of target, speed, image information through communication module transmission to two machines；
Communication module on one machine, two machines is the bluetooth module that can adopt and realize 10～100m short-range communication, the data volume of image information is bigger, if adopting the form that ground base station forwards, not only power consumption is big, and when running into building stop, the normal transmission of data can be affected, receive, cause that monitoring work cannot replace.
G). the continuation with two machines that returns of a machine is monitored, two machines are according to the license number of tracking target received, speed, image information lock onto target, after lock onto target, transmission task has joined and normal operation information, after one machine receives the information that two machines send, return to base station nearby be charged or change battery operation, continued tracking target is monitored by two machines, it is achieved that the monitoring continuous, seamless to target；Similarly, when two machines cannot be monitored due to electricity deficiency, then taken over its continuation monitoring by other unmanned plane.
Many base stations unmanned plane of the present invention follows the tracks of system and method continuously, is truly realized the monitoring continuous, seamless following the trail of target, solves single unmanned plane flying power deficiency and is easily caused target with the problem lost, and beneficial effect is notable, is suitable to application.
Claims (3)
1. the unmanned plane of base station more than follows the tracks of a system continuously, and including being uniformly distributed in ground multiple base station and to following the trail of at least two frame unmanned planes that target (3) is tracked monitoring, base station is made up of fixed base stations (1) and/or mobile base station (2)；It is characterized in that: unmanned plane, base station are provided with the digital transmission module realizing telecommunication between, unmanned plane is provided with and realizes the communication module of data short range transmission between different unmanned plane；One frame unmanned plane, to following the trail of in object tracking process, occurs when electricity is not enough, another unmanned plane replace the continuous monitoring realized following the trail of target.
2. the tracking following the tracks of system based on the many base stations unmanned plane described in claim 1 continuously, it is characterised in that realized by following steps:
A). target following and information gathering, if being called that the unmanned plane of a machine is just performing the monitor task following the trail of target, a machine is to, in the process following the trail of target monitoring, sending the gps coordinate of self, head angle, elevation information to ground base station；
B). electric power detection, a machine constantly detects the electricity of self, when the warning value that electricity reaches deficiency being detected, then sends electricity deficiency information to ground base station；
C). judging base station nearby, after ground base station receives the electricity deficiency information that a machine sends, the base station that distance one machine is nearest send unmanned plane with charge free and take over a machine continuation monitoring, tracing target, the unmanned plane performing to take over monitor task is called two machines；
D). monitoring position rushed towards by two machines, and self up-to-date for machine gps coordinate, head angle, elevation information are forwarded to two machines by base station, and two machines are rushed towards a machine position by the static state of flying at a constant speed that starts to；Two machines, in the process flying to a machine, constantly receive and update the latest position of a machine；
E). the judgement of distance, at two machines in the process of a machine, a machine, two machines constantly judge the distance between them, and when distance is less than threshold value S, the communication module of existing closely data transmission all opened by a machine, two machines；
F). the data transmission between unmanned plane, after the communication module of a machine, two machines is set up and connected, two machines no longer fly near a machine, in order to two machines bump against；Now, a machine will follow the trail of the license number of target, speed, image information through communication module transmission to two machines；
G). the continuation with two machines that returns of a machine is monitored, two machines are according to the license number of tracking target received, speed, image information lock onto target, after lock onto target, transmission task has joined and normal operation information, after one machine receives the information that two machines send, return to base station nearby be charged or change battery operation, continued tracking target is monitored by two machines, it is achieved that the monitoring continuous, seamless to target；Similarly, when two machines cannot be monitored due to electricity deficiency, then taken over its continuation monitoring by other unmanned plane.
3. many base stations according to claim 2 unmanned plane follows the tracks of the tracking of system continuously, it is characterised in that: the threshold value S described in step e) is 100m, and the communication module on a machine, two machines is to realize the bluetooth module of 10～100m short-range communication.
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| CN105973230A (en) * | 2016-06-30 | 2016-09-28 | 西安电子科技大学 | Collaborative sensing and planning method for double unmanned aerial vehicles |
| CN106444847A (en) * | 2016-11-14 | 2017-02-22 | 徐志勇 | Omnibearing target tracking system for unmanned aerial vehicle |
| CN106788677A (en) * | 2016-12-09 | 2017-05-31 | 佛山科学技术学院 | A kind of Unmanned Aerial Vehicle Data relay and its method based on mobile data network |
| WO2018019059A1 (en) * | 2016-07-26 | 2018-02-01 | 杭州海康机器人技术有限公司 | Flight control method, device and system for unmanned aerial vehicle |
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| CN112805650A (en) * | 2020-03-30 | 2021-05-14 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle control method and device and computer readable storage medium |
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| CN111966126A (en) * | 2020-08-24 | 2020-11-20 | 苏州臻迪智能科技有限公司 | Unmanned aerial vehicle patrol method and device and unmanned aerial vehicle |
| CN112650271A (en) * | 2020-09-16 | 2021-04-13 | 浩亚信息科技有限公司 | Unmanned aerial vehicle over-the-horizon flight system and method based on star chain and 5G technology |
| CN114326775A (en) * | 2020-09-29 | 2022-04-12 | 北京机械设备研究所 | Unmanned aerial vehicle system based on thing networking |
| CN114326775B (en) * | 2020-09-29 | 2024-05-28 | 北京机械设备研究所 | Unmanned aerial vehicle system based on thing networking |
| CN112564767B (en) * | 2020-11-30 | 2021-09-21 | 北京邮电大学 | Continuous coverage method based on self-organizing optimization cooperation in unmanned aerial vehicle network |
| CN112564767A (en) * | 2020-11-30 | 2021-03-26 | 北京邮电大学 | Continuous coverage method based on self-organizing optimization cooperation in unmanned aerial vehicle network |
| CN114115363A (en) * | 2021-12-04 | 2022-03-01 | 中国人民解放军国防科技大学 | Multi-unmanned aerial vehicle unknown indoor space exploration method based on dynamic target tracking |
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Inventor after: Mao Youbin Inventor after: Wang Zhengwei Inventor before: Wang Zhengwei |
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Effective date of registration: 20180710 Address after: 276000 B, Linyi science and Technology Pioneer Park, hi tech Zone, Shandong Applicant after: Shandong Xiang Hong Electronic Technology Co., Ltd. Applicant after: Xiang hung electronic technology (Shenzhen) Co., Ltd. Applicant after: Hangzhou Huifeng Hongyuan Technology Co. Ltd. Address before: 276000 B, Linyi science and Technology Pioneer Park, hi tech Zone, Shandong Applicant before: Shandong Xiang Hong Electronic Technology Co., Ltd. Applicant before: BEIJING JUEYUN ELECTRONIC CO., LTD. Applicant before: SHENZHEN XIANYUN TECHNOLOGY CO., LTD. |
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