CN106290246A - The terrestrial positioning device of unmanned plane and gas remote measurement system without GPS - Google Patents
The terrestrial positioning device of unmanned plane and gas remote measurement system without GPS Download PDFInfo
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- CN106290246A CN106290246A CN201610645854.4A CN201610645854A CN106290246A CN 106290246 A CN106290246 A CN 106290246A CN 201610645854 A CN201610645854 A CN 201610645854A CN 106290246 A CN106290246 A CN 106290246A
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- unmanned plane
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- terrestrial positioning
- remote measurement
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- 238000005259 measurement Methods 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 claims description 7
- 230000003595 spectral effect Effects 0.000 claims description 7
- 238000004458 analytical method Methods 0.000 claims description 3
- 239000004065 semiconductor Substances 0.000 claims description 3
- 239000007789 gas Substances 0.000 description 26
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 6
- 238000003384 imaging method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000003345 natural gas Substances 0.000 description 2
- 229920001621 AMOLED Polymers 0.000 description 1
- 238000009432 framing Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000007557 optical granulometry Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 230000008685 targeting Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
- G01N21/39—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using tunable lasers
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Spectroscopy & Molecular Physics (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- Health & Medical Sciences (AREA)
- Optics & Photonics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides terrestrial positioning device and the gas remote measurement system of a kind of unmanned plane without GPS, described terrestrial positioning device includes: select module, and described selection module selects the focal length of correspondence according to the elevation information of the aerial unmanned plane received；Video camera, described video camera is according to the image of described focal length output unmanned plane, and send display device；Display device, draws the air position of described unmanned plane according to described image position in the coordinate system of display device；Transmitter module, described transmitter module is used for transmitting described air position.It is high, without advantages such as GPS location that the present invention has positioning precision.
Description
Technical field
The present invention relates to photoanalysis, particularly to terrestrial positioning device and the gas remote measurement system of the unmanned plane without GPS
System.
Background technology
At present, unmanned plane is patrolled and examined be widely applied with the industry such as plant protection at mapping, pipeline.In such applications, existing
There are location and the navigation heavy dependence GPS of main flow unmanned plane.But under complex environment, such as between skyscraper during flight, adopt
There is problems in that with GPS location
1.GPS signal is blocked by building to be affected with meteorological condition, and Quality Down is past at low story height and rainy weather
Toward search less than gps signal, it is impossible to reliably position；
The positioning precision of 2.GPS own is limited, and range of error is big, various building wall Reflected GPS signals between building in addition,
Further result in GPS error to strengthen.
In order to solve above-mentioned deficiency, existing targeting scheme without GPS is divided into two classes:
1. ego-motion estimation based on computer vision, i.e. utilizes airborne camera collection image, at airborne computer
Reason, calculates the position of self.
The equipment such as photographic head, airborne computer is installed on unmanned plane, reduces the payload of unmanned plane, and due to building
The uncertainty of environment outward appearance between space, this kind of method often reliability is low；
2. pseudolite positioning: determine unmanned seat in the plane by the base station launching certain framing signal being arranged in environment
Put.
In pseudolite positioning scheme, the relative position arranging multiple base station and base station in advance in the environment is needed to need tight
Lattice control, and this is difficulty with between skyscraper.
Summary of the invention
For solving the deficiency in above-mentioned prior art, the invention provides a kind of high without GPS, positioning precision, can
By the terrestrial positioning device of the good unmanned plane without GPS of property, can be applicable in the location of unmanned plane between skyscraper, navigation.
It is an object of the invention to be achieved through the following technical solutions:
A kind of terrestrial positioning device of the unmanned plane without GPS, described terrestrial positioning device includes:
Selecting module, described selection module selects Jiao of correspondence according to the elevation information of the aerial unmanned plane received
Away from；
Video camera, described video camera is according to the image of described focal length output unmanned plane, and send display device；
Display device, draws the aerial position of described unmanned plane according to described image position in the coordinate system of display device
Put；
Transmitter module, described transmitter module is used for transmitting described air position.
According to above-mentioned terrestrial positioning device, alternatively, described unmanned plane includes:
Altimeter, the elevation information of described altimeter output send described video camera.
According to above-mentioned terrestrial positioning device, it is preferable that described height is calculated as electromagnetic distance measuring instrument.
According to above-mentioned terrestrial positioning device, it is preferable that the camera lens of described video camera is straight up.
According to above-mentioned terrestrial positioning device, alternatively, described video camera is at least 2, has different focal ranges,
Corresponding with the differing heights of described unmanned plane respectively；Described selection module is arranged between altimeter and video camera, or arranges
Between video camera and display device；Or,
Described video camera is 1, has different focal ranges, corresponding with the differing heights of described unmanned plane respectively；
Described selection module is arranged between altimeter and video camera.
According to above-mentioned terrestrial positioning device, it is preferable that described video camera is arranged in a linear or T-shaped arrangement.
The present invention also aims to provide a kind of gas remote measurement system applying above-mentioned terrestrial positioning device, this invention
Purpose is achieved by the following technical programs:
A kind of gas remote measurement system, described gas remote measurement system includes unmanned plane, gas remote measurement device；Described gas remote measurement
System farther includes:
Terrestrial positioning device, described terrestrial positioning device uses any of the above-described terrestrial positioning device.
According to above-mentioned gas remote measurement system, alternatively, described gas remote measurement device includes:
Light source, described light source is arranged on described unmanned plane, the wavelength measuring light of described light source output and gas to be measured
Characteristic spectral line corresponding；
Detector, described detector is arranged on described unmanned plane, and described detector is used for will be through quilt after gas to be measured
The measurement light of reflection is converted to the signal of telecommunication, and is sent to analyze module；
Analyzing module, described analysis module utilizes spectral technique to process the described signal of telecommunication, thus obtains the dense of gas to be measured
Degree.
According to above-mentioned gas remote measurement system, it is preferable that described light source is semiconductor laser with tunable.
Compared with prior art, the device have the advantages that into:
Height according to unmanned plane goes to select the focal length the most corresponding with this so that video camera can nothing described in blur-free imaging
Man-machine, the image of unmanned plane is presented in the coordinate system of display device, thus orients the position of unmanned plane exactly, it is not necessary to
Gps signal, good reliability, positioning precision are high, up to centimetres, can be used in the location of the unmanned plane between skyscraper, for
The unmanned plane remote measurement application of the different floor natural gas leakings of skyscraper is taken a firm foundation.
Accompanying drawing explanation
Referring to the drawings, the disclosure will be easier to understand.Skilled addressee readily understands that: this
A little accompanying drawings are used only for illustrating technical scheme, and are not intended to be construed as limiting protection scope of the present invention.
In figure:
Fig. 1 is the structure diagram of the terrestrial positioning device of according to embodiments of the present invention 1；
Fig. 2 is unmanned plane schematic diagram of position in the coordinate system of display device.
Detailed description of the invention
How Fig. 1-2 and the optional embodiment following description describing the present invention are implemented with teaching those skilled in the art
With the reproduction present invention.In order to instruct technical solution of the present invention, simplify or eliminated some conventional aspects.Those skilled in the art
Should be appreciated that be derived from these embodiments modification or replace will within the scope of the invention.Those skilled in the art should understand that
Following characteristics can combine to be formed multiple modification of the present invention in every way.Thus, the invention is not limited in following can
Select embodiment, and only limited by claim and their equivalent.
Embodiment 1:
Fig. 1 schematically illustrate the present embodiment apply skyscraper different floor natural gas leakings detect gas
The structure diagram of body telemetry system, as it is shown in figure 1, described gas remote measurement system includes:
The unmanned plane 21 that can hover, such as gyroplane, has wireless receiving module, is used for receiving control signal and terrestrial positioning
Device transmits the position of the unmanned plane come；
Altimeter, such as electromagnetic distance measuring instrument, described altimeter is fixed on described unmanned plane, for detecting flying of unmanned plane
Line height, and it is sent to terrestrial positioning device by wirelessly or non-wirelessly mode；
Terrestrial positioning device, described terrestrial positioning device includes:
Selecting module, such as selection circuit or software, described selection module is according to the height of the aerial unmanned plane received
Information and select correspondence focal length；
Video camera, described video camera has wider focal range, and described video camera exports unmanned plane according to described focal length
Image, the distinguishable image of the unmanned plane obtaining output send display device；
Display device, such as CRT, LCD etc., draws described nothing according to described image position in the coordinate system of display device
Man-machine air position, as shown in Figure 2；
Transmitter module, such as wireless signal sending module, described air position is sent to described unmanned by described transmitter module
Machine；
Telemetering equipment, described telemetering equipment includes:
Light source, such as semiconductor laser with tunable, described light source is arranged on described unmanned plane, the survey of described light source output
The wavelength of amount light is corresponding with the characteristic spectral line of gas to be measured, and 1651nm as a length of in transmitted wave is corresponding with the characteristic spectral line of methane；
Detector, described detector is arranged on described unmanned plane, and described detector is used for will be through different high-storey rooms
The measurement light reflected after interior gas to be measured is converted to the signal of telecommunication, and is sent to analyze module；
Analyzing module, described analysis module utilizes spectral technique to process the described signal of telecommunication, thus obtains the dense of gas to be measured
Degree.Analyzing module is the state of the art, does not repeats them here.
Embodiment 2:
Application examples during the gas remote measurement system of 1 positions between skyscraper according to embodiments of the present invention.
In this application examples, altimeter uses laser range finder, is arranged on unmanned plane；The elevation information of altimeter output
Wirelessly it is sent to video camera；Described video camera is 3, is arranged in a linear, have short, in, long-focus, corresponding to not
The imaging of level unmanned plane, such as the unmanned plane of short focus correspondence 0-10m height, mid-focal length correspondence 10-50m height unmanned
Machine, the unmanned plane of long-focus correspondence 50-100m height, the camera lens of all video cameras is straight up；Select module, described selection mould
Block is arranged between altimeter and video camera, goes to select have taking the photograph of the focal length corresponding with height according to the elevation information received
Camera so that this camera operation (other video cameras do not work), and output signal send transmitter module；Display device uses LCD.
Gas remote measurement system according to the present embodiment reaches to have an advantage that: between skyscraper, gps signal is very poor,
Utilize native system can effectively provide the locus of unmanned plane, it is not necessary to gps signal, and positioning precision is high, good reliability.
Embodiment 3:
Application examples during the gas remote measurement system of 1 positions between skyscraper according to embodiments of the present invention.
In this application examples, altimeter uses radar range finder, is arranged on unmanned plane；The elevation information of altimeter output
Wirelessly it is sent to video camera；Described video camera is 3, T-shaped arrangement, have short, in, long-focus, corresponding to not
The imaging of level unmanned plane, such as the unmanned plane of short focus correspondence 0-10m height, mid-focal length correspondence 10-50m height unmanned
Machine, the unmanned plane of long-focus correspondence 50-100m height, the camera lens of all video cameras is straight up；Select module, described selection mould
Block is arranged between video camera and transmitter module, goes to select have the focal length corresponding with height according to the elevation information received
The output signal of video camera send transmitter module, even if other video cameras do not work or work but disconnect with transmitter module, that is, make
Obtain three video cameras optionally to electrically connect with transmitter module；Display device uses CRT.
Gas remote measurement system according to the present embodiment reaches to have an advantage that: between skyscraper, gps signal is very poor,
Utilize native system can effectively provide the locus of unmanned plane, it is not necessary to gps signal, and positioning precision is high, good reliability.
Embodiment 4:
Gas remote measurement systematic difference example according to embodiments of the present invention.
In this application examples, altimeter uses radar range finder, is arranged on unmanned plane；The elevation information of altimeter output
Wirelessly it is sent to video camera；Described video camera is 1, have short, in, long-focus, corresponding to the nothing of differing heights
Man-machine imaging, such as the unmanned plane of short focus correspondence 0-10m height, the unmanned plane of mid-focal length correspondence 10-50m height, long-focus
The unmanned plane of corresponding 50-100m height, the camera lens of video camera is straight up；Selecting module, described selection module is according to receiving
Elevation information go to select that there is the focal length corresponding with height so that this video camera adjusts this focal length；Display device uses
AMOLED。
Gas remote measurement system according to the present embodiment reaches to have an advantage that: between skyscraper, gps signal is very poor,
Utilize native system can effectively provide the locus of unmanned plane, it is not necessary to gps signal, and positioning precision is high, good reliability；Only need
One video camera, low cost.
Embodiment 5:
Application examples during the gas remote measurement system of 1 positions between skyscraper according to embodiments of the present invention.
In this application examples, altimeter uses radar range finder, is arranged on unmanned plane；The elevation information of altimeter output
Wirelessly it is sent to video camera；Described video camera is 3, T-shaped arrangement, have short, in, long-focus, corresponding to not
The imaging of level unmanned plane, such as the unmanned plane of short focus correspondence 0-10m height, mid-focal length correspondence 10-50m height unmanned
Machine, the unmanned plane of long-focus correspondence 50-100m height, the camera lens of all video cameras is straight up；Select module, described selection mould
Block is arranged between video camera and display device, goes to select have the focal length corresponding with height according to the elevation information received
The output signal of video camera send display device, even if other video cameras do not work or work but disconnect with display device, that is, make
Obtain three video cameras optionally to electrically connect with display device；Display device uses LCD.
Gas remote measurement system according to the present embodiment reaches to have an advantage that: between skyscraper, gps signal is very poor,
Utilize native system can effectively provide the locus of unmanned plane, it is not necessary to gps signal, and positioning precision is high, good reliability.
Claims (9)
1. the terrestrial positioning device without the unmanned plane of GPS, it is characterised in that: described terrestrial positioning device includes:
Selecting module, described selection module selects the focal length of correspondence according to the elevation information of the aerial unmanned plane received；
Video camera, described video camera is according to the image of described focal length output unmanned plane, and send display device；
Display device, draws the air position of described unmanned plane according to described image position in the coordinate system of display device；
Transmitter module, described transmitter module is used for transmitting described air position.
Terrestrial positioning device the most according to claim 1, it is characterised in that: described unmanned plane includes:
Altimeter, the elevation information of described altimeter output send described video camera.
Terrestrial positioning device the most according to claim 2, it is characterised in that: described height is calculated as electromagnetic distance measuring instrument.
Terrestrial positioning device the most according to claim 1, it is characterised in that: the camera lens of described video camera is straight up.
Terrestrial positioning device the most according to claim 1, it is characterised in that: described video camera is at least 2, has difference
Focal range, corresponding with the differing heights of described unmanned plane respectively；Described selection module is arranged on altimeter and video camera
Between, or be arranged between video camera and transmitter module；Or,
Described video camera is 1, has different focal ranges, corresponding with the differing heights of described unmanned plane respectively；Described
Module is selected to be arranged between altimeter and video camera.
Terrestrial positioning device the most according to claim 5, it is characterised in that: described video camera is arranged in a linear or T-shaped row
Row.
7. a gas remote measurement system, described gas remote measurement system includes unmanned plane, gas remote measurement device；It is characterized in that: institute
State gas remote measurement system to farther include:
Terrestrial positioning device, uses the arbitrary described terrestrial positioning device of claim 1-6.
Gas remote measurement system the most according to claim 7, it is characterised in that: described gas remote measurement device includes:
Light source, described light source is arranged on described unmanned plane, the wavelength measuring light of described light source output and the spy of gas to be measured
Levy spectral line corresponding；
Detector, described detector is arranged on described unmanned plane, and described detector will be for will be reflected after gas to be measured
Measurement light be converted to the signal of telecommunication, and be sent to analyze module；
Analyzing module, described analysis module utilizes spectral technique to process the described signal of telecommunication, thus obtains the concentration of gas to be measured.
Gas remote measurement system the most according to claim 7, it is characterised in that: described light source is tunable semiconductor laser
Device.
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| CN201610645854.4A CN106290246A (en) | 2016-08-09 | 2016-08-09 | The terrestrial positioning device of unmanned plane and gas remote measurement system without GPS |
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| CN108535188A (en) * | 2018-05-23 | 2018-09-14 | 广东容祺智能科技有限公司 | A kind of the unmanned plane gas detecting system and its detection method of single line laser |
| CN109597111A (en) * | 2018-12-25 | 2019-04-09 | 刘小龙 | A kind of unmanned monitoring machine positioning device based on GPS |
| WO2019080805A1 (en) * | 2017-10-26 | 2019-05-02 | 深圳市大疆创新科技有限公司 | Control apparatus, camera apparatus, flying object, control method and program |
| WO2019113966A1 (en) * | 2017-12-15 | 2019-06-20 | 深圳市道通智能航空技术有限公司 | Obstacle avoidance method and device, and unmanned aerial vehicle |
| WO2020125414A1 (en) * | 2018-12-19 | 2020-06-25 | 深圳市大疆创新科技有限公司 | Control apparatus, photography apparatus, photography system, moving body, control method and program |
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