CN106483499A - Unmanned plane alignment system and unmanned plane take off, landing method - Google Patents
Unmanned plane alignment system and unmanned plane take off, landing method Download PDFInfo
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- CN106483499A CN106483499A CN201610838850.8A CN201610838850A CN106483499A CN 106483499 A CN106483499 A CN 106483499A CN 201610838850 A CN201610838850 A CN 201610838850A CN 106483499 A CN106483499 A CN 106483499A
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- unmanned plane
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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
- 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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- 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
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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Abstract
The present invention proposes a kind of unmanned plane alignment system and unmanned plane takes off, landing method, including unmanned plane, wireless locating base station, earth station, wireless location label, and position correction module, in unmanned plane turnover wireless locating base station scope, the positioning radio wave that wireless location label satellite receiver sends, reply wireless pulse signals, wireless locating base station catches described wireless pulse signals, and send the information of wireless pulse signals and its time point to earth station, the information processing of described wireless pulse signals and its time point is become the three-dimensional coordinate information that unmanned plane is with respect to first base station by earth station, and send to described unmanned plane in real time, the three-dimensional coordinate information that position correction module is sent by earth station is revised in real time to unmanned plane position, realize precise positioning.The unmanned plane alignment system of the present invention, solves the unmanned plane takeoff and landing stage, positions inaccurate technical problem, low cost, strong applicability, strong antijamming capability, accurate positioning.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly, to a kind of unmanned plane alignment system and unmanned plane take off, land
Method.
Background technology
The flight of unmanned plane generally comprise take off, airline operation and landing three phases, most at present civilian unmanned
All using the location navigation mode such as GPS or big-dipper satellite, precision is typically in 5m～10m, and these three stages all make for machine
Use this positioning mode.Because course sector is relatively spacious, thus in the middle airline operation stage it is allowed to there is 5m～10m
Position error, and in the takeoff and landing stage, course line is relatively busy, needs accurately to drop to specified point, or from specifying
Take off in course line.But, existing positioning precision is difficult to ensure that unmanned plane lands in specified point, also easily drifts off the course when taking off.
Content of the invention
Present invention is primarily targeted at providing a kind of unmanned plane alignment system it is intended to solve unmanned plane takeoff and landing rank
Section, positions inaccurate technical problem.
For achieving the above object, the present invention propose a kind of unmanned plane alignment system, including unmanned plane, wireless locating base station,
And earth station, described unmanned plane includes wireless location label and position correction module, wherein,
Wireless location label, the positioning radio wave that satellite receiver sends, reply wireless pulse signals；
Wireless locating base station, catches described wireless pulse signals, and the information of wireless pulse signals and its time point is sent
To earth station；
Earth station, the information processing of described wireless pulse signals and its time point is become unmanned plane with respect to first base station
Three-dimensional coordinate information, and send in real time to described unmanned plane；
Position correction module, is modified to the position of unmanned plane according to described three-dimensional coordinate information.
Further, described wireless locating base station be provided with multiple, described first base station be demarcate No. 1 wireless location base
Stand.
Further, it is additionally provided with communication link between described unmanned plane and earth station, for data letter therebetween
Breath interaction.
Further, described unmanned plane also includes：
Display module, the positional information of display unmanned plane and state of flight information.
Further, described earth station includes：
Alarm module, is reported to the police when unmanned plane deviates preset coordinate threshold range, and is started position and automatically revised；
Manual rectification module, when unmanned plane loses the automatic capability for correcting in position, carries out aligning to it.
Further, the frequency range of described wireless pulse signals is 6.8GHz.
Further, the positioning precision of this unmanned plane alignment system is 10～30cm.
Another object of the present invention is to proposing a kind of accurate landing method of unmanned plane applying above-mentioned alignment system, including
Following steps：
Unmanned plane enters wireless locating base station scope, the positioning radio wave that wireless location label satellite receiver sends,
Reply wireless pulse signals；
Wireless locating base station catches described wireless pulse signals, and the information of wireless pulse signals and its time point is sent
To earth station；
The information processing of described wireless pulse signals and its time point is become unmanned plane with respect to first base station by earth station
Three-dimensional coordinate information, and send in real time to described unmanned plane；
Unmanned plane is modified to self-position by described three-dimensional coordinate information, completes to land.
A further object of the present invention is to propose a kind of accurate takeoff method of unmanned plane applying above-mentioned alignment system, including
Following steps：
The positioning radio wave that the wireless location label satellite receiver of unmanned plane sends, replys wireless pulse signals；
Wireless locating base station catches described wireless pulse signals, and the information of wireless pulse signals and its time point is sent
To earth station；
The information processing of described wireless pulse signals and its time point is become unmanned plane with respect to first base station by earth station
Three-dimensional coordinate information, and send in real time to described unmanned plane；
Unmanned plane is modified to self-position by described three-dimensional coordinate information, completes to take off.
Further, described unmanned plane is modified to self-position by described three-dimensional coordinate information, completes to take off
After step, also include：
Unmanned plane flies out wireless locating base station scope, switches to single GPS location pattern.
The unmanned plane alignment system of the present invention, including unmanned plane, wireless locating base station and earth station, described unmanned plane bag
Include wireless location label and position correction module, in unmanned plane turnover wireless locating base station scope, wireless location label receives
The positioning radio wave that earth station sends, replys wireless pulse signals, and wireless locating base station catches described wireless pulse signals, and
The information of wireless pulse signals and its time point is sent to earth station, earth station is by described wireless pulse signals and its time point
Information processing become the three-dimensional coordinate information that unmanned plane is with respect to first base station, and send in real time to described unmanned plane, position is repaiied
The three-dimensional coordinate information that positive module is sent by earth station is revised in real time to unmanned plane position, realizes precise positioning.This
Bright unmanned plane alignment system, solves the unmanned plane takeoff and landing stage, positions inaccurate technical problem, low cost, suitable
With property is strong, strong antijamming capability, accurate positioning.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Have technology description in required use accompanying drawing be briefly described it should be apparent that, drawings in the following description be only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, acceptable
Structure according to these accompanying drawings obtains other accompanying drawings.
Fig. 1 is the functional block diagram of unmanned plane alignment system one embodiment of the present invention；
Fig. 2 is the flow chart of unmanned plane landing method one embodiment of the present invention；
Fig. 3 is the flow chart of unmanned plane takeoff method one embodiment of the present invention；
The schematic diagram of coordinate system QXYZ that Fig. 4 builds for one embodiment of the invention.
Drawing reference numeral explanation：
| Label | Title | Label | Title |
| 10 | Unmanned plane | 31 | Display module |
| 11 | Wireless locating module | 32 | Alarm module |
| 12 | Position correction module | 33 | Manual rectification module |
| 20 | Wireless locating base station | 40 | Communication link |
| 30 | Earth station |
The realization of the object of the invention, functional characteristics and advantage will be described further in conjunction with the embodiments referring to the drawings.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of not paying creative work all its
His embodiment, broadly falls into the scope of protection of the invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining the relative position relation between each part, motion conditions etc. under a certain particular pose (as shown in drawings), if should
When particular pose changes, then directionality instruction also correspondingly changes therewith.
In addition, the description being related to " first ", " second " etc. in the present invention is only used for describing purpose, and it is not intended that referring to
Show or imply its relative importance or the implicit quantity indicating indicated technical characteristic.Thus, define " first ", "
Two " feature can be expressed or implicitly include at least one this feature.In addition, the technical scheme between each embodiment can
To be combined with each other, but must be capable of by those of ordinary skill in the art based on, when the combination of technical scheme occurs
Conflicting or will be understood that the combination of this technical scheme does not exist, also not in the protection model of application claims when cannot realize
Within enclosing.
With reference to Fig. 1, Fig. 1 is the functional block diagram of unmanned plane alignment system one embodiment of the present invention, in this embodiment,
Unmanned plane alignment system includes unmanned plane 10, wireless locating base station 20 and earth station 30, and unmanned plane 10 includes wireless location label
11 and position correction module 12, wherein,
Wireless location label 11, the positioning radio wave that satellite receiver 30 sends, reply wireless pulse signals；
Wireless locating base station 20, catches described wireless pulse signals, the information of wireless pulse signals and its time point is sent out
Deliver to earth station 30；
Earth station 30, the information processing of described wireless pulse signals and its time point is become unmanned plane 10 with respect to the first base
The three-dimensional coordinate information stood, and send in real time to described unmanned plane 10；
Position correction module 12, is modified to the position of unmanned plane 10 according to described three-dimensional coordinate information.
The unmanned plane alignment system of the present embodiment, including unmanned plane 10, wireless locating base station 20 and earth station 30, no
Merge unmanned plane 10 during man-machine 10 turnover wireless locating base station 20 scope in order to the location data navigated, now adopt GPS location
With radio position finding radio directional bearing combine mode, unmanned plane 10 navigation the stage adopt GPS navigation position, in landing phases, detect into
When entering wireless locating base station 20 scope, unmanned plane 10 automatic combining wireless electricity station-keeping mode, in takeoff phase, unmanned plane 10 flies out
After wireless locating base station 20 scope, more and more remote with distance, wireless location label 11 is difficult to receive earth station 30 again and sends
Positioning radio wave, thus wireless pulse signals will not be replied again, radio position finding radio directional bearing gradually weakens, and unmanned plane 10 automatically switches
To single GPS location pattern.
The radio position finding radio directional bearing of unmanned plane 10 depends on the wireless location label 11 being arranged on unmanned plane 10, unmanned plane
10 under radio position finding radio directional bearing pattern, wireless location label 11 can real-time reception earth station 30 send positioning radio wave and outside
Reply wireless pulse signals, wireless locating base station 20 can catch the wireless pulse signals of wireless location label 11 transmitting, and will
The time point information of the information of unlimited pulse signal and the transmission of unlimited pulse signal sends in real time to earth station 30, wireless location base
Stand 20 be provided with multiple, can be according to the size on airport adjustment quantity and distribution, each wireless locating base station 20 is demarcated 1
The serial number of～n, first base station is No. 1 wireless locating base station, and the second base station is No. 2 wireless locating base stations, by that analogy.One
Place of taking off or land only needs to install a set of wireless locating base station 20, and cost is 20000RMB, and only needs on unmanned plane 10
Lay a wireless location label 11, a set of wireless locating base station 20 can accommodate nearly thousand wireless location labels 11, Er Qiewu
Line positions the with low cost of label 11, reduces the cost of this system.
Earth station 30 is disposed on the monitoring data processing center on ground, with wireless locating base station 20 with wired or nothing
Line mode connects, and is mainly used in the wireless pulse signals that send wireless locating base station 20 in real time and its time point information is processed into
Unmanned plane is relative to the three-dimensional coordinate information of No. 1 wireless locating base station demarcated in wireless locating base station 20, and sends in real time to no
Man-machine 10, No. 1 described wireless locating base station is the landing destination that unmanned plane 10 supposes, so setting it to the first base
Stand, in other embodiments, unmanned plane 10 is selected during other purposes ground it is also possible to select the wireless locating base station 20 of other labels
As first base station.
Unmanned plane 10 is sent to after unmanned plane 10 with respect to the three-dimensional coordinate information of first base station by earth station 30, unmanned plane
The position correction module 12 that 10 carry, can be according to the three-dimensional coordinate information correction unmanned plane 10 of earth station 30 transmission in this moment phase
Deviation value to this three-dimensional coordinate information, and then realize the precise positioning of unmanned plane 10.
The unmanned plane alignment system of the present embodiment, including unmanned plane 10, wireless locating base station 20 and earth station 30, described
Unmanned plane 10 includes wireless location label 11 and position correction module 12, unmanned plane 10 pass in and out wireless locating base station scope when,
The positioning radio wave that wireless location label 11 satellite receiver 30 sends, replys wireless pulse signals, wireless locating base station 20
Catch described wireless pulse signals, and the information of wireless pulse signals and its time point is sent to earth station 30, earth station 30
The information processing of described wireless pulse signals and its time point is become the three-dimensional coordinate information that unmanned plane 10 is with respect to first base station,
And send to described unmanned plane 10 in real time, the three-dimensional coordinate information that position correction module 12 is sent by earth station 30 is to unmanned plane
10 positions are revised in real time, realize precise positioning.The unmanned plane alignment system of the present embodiment, solves unmanned plane and takes off and drop
Fall the stage, position inaccurate technical problem, low cost, strong applicability, strong antijamming capability, accurate positioning.
Further, with reference to Fig. 1, between unmanned plane 10 and earth station 30, be additionally provided with communication link 40, for the two it
Between data message interaction.
The unmanned plane alignment system of the present embodiment, is additionally provided with communication link 40, with reality between unmanned plane 10 and earth station 30
Existing the quick of big data information between unmanned plane 10 and StoreFront station 30 interacts.
Further, with reference to Fig. 1, earth station 30 includes：
Display module 31, the positional information of display unmanned plane 10 and state of flight information；
Alarm module 32, is reported to the police when unmanned plane 10 deviates preset coordinate threshold range, and is started position and automatically repaiied
Just；
Manual rectification module 33, when unmanned plane 10 loses the automatic capability for correcting in position, carries out aligning to it.
The unmanned plane alignment system of the present embodiment, earth station 30 includes display module 31, alarm module 32 and manual rectification
Module 33, earth station 30, as the ground monitoring data processing center of unmanned plane 10, needs the navigation to unmanned plane 10 in real time
Information is monitored, thus setting display module 31, to show the real-time positional information of unmanned plane 10 and state of flight information；For
Ensure the safe navigation of unmanned plane 32, be additionally provided with alarm module 32 in earth station 30, unmanned plane 10 wind-engaging in flight course
The impact such as speed, air-flow may deviate default course line, therefore sets the max-thresholds that an absolute presupposition coordinate can deviate, only
Want the coordinate position that unmanned plane 10 deviates in default threshold range, broadly fall into safe flight, but also can run into some and dash forward
Heat condition, so that unmanned plane 10 deviates preset coordinate threshold range, is at this moment accomplished by alarm module 32 and is reported to the police, and reminds no
Human operator notes, and starts the position zero offset capability of unmanned plane, damages in unmanned plane 10 more serious, loses position
It is necessary to unmanned plane operator enable manual rectification module 33 enters line position to this unmanned plane in the case of putting automatic capability for correcting
Put coordinate to correct, to ensure safe flight or the safe falling of unmanned plane as far as possible.
Further, the frequency range of described wireless pulse signals is 6.8GHz.
The unmanned plane alignment system of the present embodiment, the frequency range of wireless pulse signals of wireless location label 11 transmitting is
6.8GHz, the frequency range with normal domestic radio differs larger, is not easily susceptible to the impact of civil radio frequency range, not light
Line, sand and dust, dense fog, strong antijamming capability.
Further, the positioning precision of this unmanned plane alignment system is 10～30cm.
The UAS of the present embodiment, positioning precision is 10～30cm, has reached the positioning precision of cm level, compared to it
His positioning mode, it is possible to achieve the accurate navigation of unmanned plane.
See figures.1.and.2, in this embodiment, the present invention proposes a kind of unmanned plane landing applying above-mentioned alignment system
Method, comprises the following steps：
S10：Unmanned plane 10 enters wireless locating base station 20 scope, and what wireless location label 11 satellite receiver 30 sent determines
Position radio wave, replys wireless pulse signals；
S11：Wireless locating base station 20 catches described wireless pulse signals, and the letter by wireless pulse signals and its time point
Breath sends to earth station 30；
S12：Described wireless pulse signals and its time point information are processed into unmanned plane 10 with respect to first by earth station 30
The three-dimensional coordinate information of base station, and send in real time to described unmanned plane 10；
S13：Unmanned plane 10 is modified to self-position by described three-dimensional coordinate information, completes to land.
The unmanned plane landing method of the present embodiment, based on above-mentioned unmanned plane alignment system, in unmanned plane landing phases, no
After man-machine 10 enter wireless locating base station 20 scope, the station-keeping mode of unmanned plane 10 can be used using the unmanned plane 10 navigation stage
The form that GPS location pattern or inertial navigation station-keeping mode are combined with radio position finding radio directional bearing pattern, meanwhile, earth station 30 launches for positioning
Radio wave, wireless location label 11 responds immediately to corresponding wireless pulse signals, wirelessly after receiving this radio wave
After locating base station 20 captures this wireless pulse signals, this wireless pulse signals and its time point are sent to earth station 30, ground
Face station 30 receives described wireless pulse signals and its time point information, is processed into unmanned plane 10 with respect to the three of first base station
Dimension coordinate information, and send in real time to unmanned plane 10, after unmanned plane 10 receives described three-dimensional coordinate information, position correction module
12 can be modified to the actual coordinate of unmanned plane 10 with reference to this three-dimensional coordinate information so as to precisely land along default course line.
Unmanned plane 10 is as follows with respect to the processing procedure of the three-dimensional coordinate information of first base station, sets tetra- nothings of A, B, C, D
Line locating base station 20, Q be unmanned plane 10, set up coordinate system QXYZ, as shown in figure 4, the position of four wireless locating base stations 20 and
Distance apart from unmanned plane 10 is respectively dAQ、dBQ、dCQ、dDQ, V is the light velocity, i.e. the speed of electromagnetic wave.
After alignment system is started working, wireless locating base station 20 can launch radio wave always, and records each sending out
Send moment T1, after unmanned plane 10 enters wireless locating base station 20 scope, wireless location label 11 receives determining of earth station's transmission
After the radio wave of position, corresponding wireless pulses answer signal can be launched, wireless locating base station receives this wireless pulses response letter
Number moment be designated as T2, wireless pulse signals replied by wireless location label 11 time span after receiving positioning radio wave is T0,
Wireless location label 11 and wireless locating base station 20 can be drawn apart from d is：D=V* ((T2-T1)-T0)/2.
The coordinate of base station A point is A (xA, yA, zA), A is d with a distance from unmanned planeAQ, the coordinate of base station B point is B (xB, yB,
zB), B is d with a distance from unmanned planeBQ, the coordinate of base station C point is C (xC, yC, zC), C is d with a distance from unmanned planeCQ, base station D point
Coordinate be D (xD, yD, zD), D is d with a distance from unmanned planeDQ, the coordinate of unmanned plane Q point is Q (xQ, yQ, zQ), by range formula
Calculate dAQ、dBQ、dCQ、dDQ, as follows by this Simultaneous Equations：
Note
Upper solving equations are drawn：
X=- (dAQ^2*y2*z3-dAQ^2*y3*z2-dAQ^2*y2*z4+dAQ^2*y4*z2+dAQ^2*y3 * z4-dAQ^
2*y4*z3-dBQ^2*y1*z3+dBQ^2*y3*z1+dBQ^2*y1*z4-dBQ^2*y4*z1-dBQ^2*y3*z4+dBQ^2*y4*
z3+dCQ^2*y1*z2-dCQ^2*y2*z1-dCQ^2*y1*z4+dCQ^2*y4*z1+dCQ^2*y2*z4-dCQ^2*y4*z2-
dDQ^2*y1*z2+dDQ^2*y2*z1+dDQ^2*y1*z3-dDQ^2*y3*z1-dDQ^2*y2*z3+dDQ^2*y3*z2-lA^2*
y2*z3+lA^2*y3*z2+lA^2*y2*z4-lA^2*y4*z2-lA^2*y3*z4+lA^2*y4*z3+lB^2*y1*z3-lB^2*
y3*z1-lB^2*y1*z4+lB^2*y4*z1+lB^2*y3*z4-lB^2*y4*z3-lC^2*y1*z2+lC^2*y2*z1+lC^2*
y1*z4-lC^2*y4*z1-lC^2*y2*z4+lC^2*y4*z2+lD^2*y1*z2-lD^2*y2*z1-lD^2*y1*z3+lD^2*
y3*z1+lD^2*y2*z3-lD^2*y3*z2)/(2*(x1*y2*z3-x1*y3*z2-x2*y1*z3+x2*y3*z1+x3*y1*
z2-x3*y2*z1-x1*y2*z4+x1*y4*z2+x2*y1*z4-x2*y4*z1-x4*y1*z2+x4*y2*z1+x1*y3*z4-
x1*y4*z3-x3*y1*z4+x3*y4*z1+x4*y1*z3-x4*y3*z1-x2*y3*z4+x2*y4*z3+x3*y2*z4-x3*
y4*z2-x4*y2*z3+x4*y3*z2))
Y=(dAQ^2*x2*z3-dAQ^2*x3*z2-dAQ^2*x2*z4+dAQ^2*x4*z2+dAQ^2*x3 * z4-dAQ^
2*x4*z3-dBQ^2*x1*z3+dBQ^2*x3*z1+dBQ^2*x1*z4-dBQ^2*x4*z1-dBQ^2*x3*z4+dBQ^2*x4*
z3+dCQ^2*x1*z2-dCQ^2*x2*z1-dCQ^2*x1*z4+dCQ^2*x4*z1+dCQ^2*x2*z4-dCQ^2*x4*z2-
dDQ^2*x1*z2+dDQ^2*x2*z1+dDQ^2*x1*z3-dDQ^2*x3*z1-dDQ^2*x2*z3+dDQ^2*x3*z2-lA^2*
x2*z3+lA^2*x3*z2+lA^2*x2*z4-lA^2*x4*z2-lA^2*x3*z4+lA^2*x4*z3+lB^2*x1*z3-lB^2*
x3*z1-lB^2*x1*z4+lB^2*x4*z1+lB^2*x3*z4-lB^2*x4*z3-lC^2*x1*z2+lC^2*x2*z1+lC^2*
x1*z4-lC^2*x4*z1-lC^2*x2*z4+lC^2*x4*z2+lD^2*x1*z2-lD^2*x2*z1-lD^2*x1*z3+lD^2*
x3*z1+lD^2*x2*z3-lD^2*x3*z2)/(2*(x1*y2*z3-x1*y3*z2-x2*y1*z3+x2*y3*z1+x3*y1*
z2-x3*y2*z1-x1*y2*z4+x1*y4*z2+x2*y1*z4-x2*y4*z1-x4*y1*z2+x4*y2*z1+x1*y3*z4-
x1*y4*z3-x3*y1*z4+x3*y4*z1+x4*y1*z3-x4*y3*z1-x2*y3*z4+x2*y4*z3+x3*y2*z4-x3*
y4*z2-x4*y2*z3+x4*y3*z2))
Z=- (dAQ^2*x2*y3-dAQ^2*x3*y2-dAQ^2*x2*y4+dAQ^2*x4*y2+dAQ^2*x3 * y4-dAQ^
2*x4*y3-dBQ^2*x1*y3+dBQ^2*x3*y1+dBQ^2*x1*y4-dBQ^2*x4*y1-dBQ^2*x3*y4+dBQ^2*x4*
y3+dCQ^2*x1*y2-dCQ^2*x2*y1-dCQ^2*x1*y4+dCQ^2*x4*y1+dCQ^2*x2*y4-dCQ^2*x4*y2-
dDQ^2*x1*y2+dDQ^2*x2*y1+dDQ^2*x1*y3-dDQ^2*x3*y1-dDQ^2*x2*y3+dDQ^2*x3*y2-lA^2*
x2*y3+lA^2*x3*y2+lA^2*x2*y4-lA^2*x4*y2-lA^2*x3*y4+lA^2*x4*y3+lB^2*x1*y3-lB^2*
x3*y1-lB^2*x1*y4+lB^2*x4*y1+lB^2*x3*y4-lB^2*x4*y3-lC^2*x1*y2+lC^2*x2*y1+lC^2*
x1*y4-lC^2*x4*y1-lC^2*x2*y4+lC^2*x4*y2+lD^2*x1*y2-lD^2*x2*y1-lD^2*x1*y3+lD^2*
x3*y1+lD^2*x2*y3-lD^2*x3*y2)/(2*(x1*y2*z3-x1*y3*z2-x2*y1*z3+x2*y3*z1+x3*y1*
z2-x3*y2*z1-x1*y2*z4+x1*y4*z2+x2*y1*z4-x2*y4*z1-x4*y1*z2+x4*y2*z1+x1*y3*z4-
x1*y4*z3-x3*y1*z4+x3*y4*z1+x4*y1*z3-x4*y3*z1-x2*y3*z4+x2*y4*z3+x3*y2*z4-x3*
y4*z2-x4*y2*z3+x4*y3*z2))
Make Z againBD=-ZDB=ZB-ZD, ZCA=-ZAC=ZC-ZA, other analogize, then above formula abbreviation is：
Finally draw the three-dimensional coordinate Q (x of unmanned plane 10Q, yQ, zQ).
With reference to Fig. 1 and Fig. 3, in this embodiment, the present invention proposes a kind of unmanned plane applying above-mentioned alignment system and takes off
Method, comprises the following steps：
S20：The positioning radio wave that wireless location label 11 satellite receiver 30 of unmanned plane 10 sends, replys wireless arteries and veins
Rush signal；
S21：Wireless locating base station 20 catches described wireless pulse signals, and the letter by wireless pulse signals and its time point
Breath sends to earth station 30；
S22：Described wireless pulse signals and its time point information are processed into unmanned plane 10 with respect to first by earth station 30
The three-dimensional coordinate information of base station, and send in real time to described unmanned plane 10；
S23：Unmanned plane 10 is modified to self-position by described three-dimensional coordinate information, completes to take off；
S24：Unmanned plane flies out wireless locating base station 20 scope, switches to single GPS location pattern.
The unmanned plane takeoff method of the present embodiment, based on above-mentioned unmanned plane alignment system, on unmanned plane takeoff phase, ground
The radio wave of 30 transmitting positioning of standing, wireless location label 11 responds immediately to a corresponding wireless arteries and veins after receiving this radio wave
Rush signal, after wireless locating base station 20 captures described wireless pulse signals, will be real-time to this wireless pulse signals and its time point
Send to earth station 30, earth station 30 receives described wireless pulse signals and its time point information, is processed into unmanned plane 10
With respect to the three-dimensional coordinate information of first base station, send in real time to unmanned plane 10, unmanned plane 10 receives described three-dimensional coordinate letter
After breath (obtaining according to said method), position correction module 12 meeting actual coordinate to unmanned plane 10 with reference to this three-dimensional coordinate information
It is modified so as to take off along default course line, after unmanned plane 10 flies out wireless locating base station 20 scope, with distance increasingly
Far, wireless location label 11 is difficult to receive the positioning radio wave of earth station 30 transmission again, thus will not reply wireless arteries and veins again
Rush signal, radio position finding radio directional bearing gradually weakens, unmanned plane 10 automatically switches to single GPS location pattern.
The foregoing is only the preferred embodiments of the present invention, not thereby limit the present invention the scope of the claims, every this
Under the inventive concept of invention, the equivalent transformation made using description of the invention and accompanying drawing content, or directly/indirectly it is used in it
He is included in the scope of patent protection of the present invention technical field of correlation.
Claims (10)
1. a kind of unmanned plane alignment system, including unmanned plane, wireless locating base station and earth station it is characterised in that described unmanned
Machine includes wireless location label and position correction module, wherein,
Wireless location label, the positioning radio wave that satellite receiver sends, reply wireless pulse signals；
Wireless locating base station, catches described wireless pulse signals, the information of wireless pulse signals and its time point is sent to ground
Face station；
Earth station, the information processing of described wireless pulse signals and its time point is become the three-dimensional that unmanned plane is with respect to first base station
Coordinate information, and send in real time to described unmanned plane；
Position correction module, is modified to the position of unmanned plane according to described three-dimensional coordinate information.
2. unmanned plane alignment system according to claim 1 it is characterised in that described wireless locating base station be provided with many
Individual, described first base station is No. 1 wireless locating base station demarcated.
3. unmanned plane alignment system according to claim 1 is it is characterised in that also set between described unmanned plane and earth station
It is equipped with communication link, for data message interaction therebetween.
4. unmanned plane alignment system according to claim 3 is it is characterised in that described unmanned plane also includes：
Display module, the positional information of display unmanned plane and state of flight information.
5. unmanned plane alignment system according to claim 4 is it is characterised in that described earth station includes：
Alarm module, is reported to the police when unmanned plane deviates preset coordinate threshold range, and is started position and automatically revised；
Manual rectification module, when unmanned plane loses the automatic capability for correcting in position, carries out aligning to it.
6. unmanned plane alignment system according to claim 1 is it is characterised in that the frequency range of described wireless pulse signals is
6.8GHz.
7. unmanned plane alignment system according to claim 1 is it is characterised in that the positioning precision of this unmanned plane alignment system
For 10～30cm.
8. a kind of unmanned plane landing method of the alignment system described in application any one of claim 1-7 is it is characterised in that include
Following steps：
Unmanned plane enters wireless locating base station scope, the positioning radio wave that wireless location label satellite receiver sends, and replys
Wireless pulse signals；
Wireless locating base station catches described wireless pulse signals, and the information of wireless pulse signals and its time point is sent to ground
Face station；
The information processing of described wireless pulse signals and its time point is become the three-dimensional that unmanned plane is with respect to first base station by earth station
Coordinate information, and send in real time to described unmanned plane；
Unmanned plane is modified to self-position by described three-dimensional coordinate information, completes to land.
9. a kind of unmanned plane takeoff method of the alignment system described in application any one of claim 1-7 is it is characterised in that include
Following steps：
The positioning radio wave that the wireless location label satellite receiver of unmanned plane sends, replys wireless pulse signals；
Wireless locating base station catches described wireless pulse signals, and the information of wireless pulse signals and its time point is sent to ground
Face station；
The information processing of described wireless pulse signals and its time point is become the three-dimensional that unmanned plane is with respect to first base station by earth station
Coordinate information, and send in real time to described unmanned plane；
Unmanned plane is modified to self-position by described three-dimensional coordinate information, completes to take off.
10. unmanned plane takeoff method according to claim 9 is it is characterised in that described unmanned plane passes through described three-dimensional seat
Mark information is modified to self-position, after completing the step taken off, also includes：
Unmanned plane flies out wireless locating base station scope, switches to single GPS location pattern.
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