CN106896394B - A kind of surveyor's beacon method positioning navigation method for drone after GPS losing lock - Google Patents
A kind of surveyor's beacon method positioning navigation method for drone after GPS losing lock Download PDFInfo
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- CN106896394B CN106896394B CN201710104003.3A CN201710104003A CN106896394B CN 106896394 B CN106896394 B CN 106896394B CN 201710104003 A CN201710104003 A CN 201710104003A CN 106896394 B CN106896394 B CN 106896394B
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- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000005259 measurement Methods 0.000 claims abstract description 13
- 230000008569 process Effects 0.000 claims description 13
- 239000000463 material Substances 0.000 claims description 9
- 238000012544 monitoring process Methods 0.000 claims description 5
- 238000013461 design Methods 0.000 claims description 3
- 230000006872 improvement Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
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- 230000003287 optical effect Effects 0.000 description 1
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Classifications
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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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The surveyor's beacon method positioning navigation method that the invention discloses a kind of for drone after GPS losing lock, when including the following steps: that (1) remote control surveying vessel enters serious shielding region, at least there are three surveyor's beacons within the scope of the ranging of the Laser Scanning Equipment of remote control surveying vessel；(2) at unobscured region, completed by GPS and inertial navigation set by the location navigation work of remote control surveying vessel；Before remote control surveying vessel enters serious shielding region, Laser Scanning Equipment will be presented in measuring system in the form of cloud in real time；(3) is positioned by BTM, obtains initial three-dimensional coordinate；(4) continues to move ahead, if the three-dimensional coordinate of surveyor's beacon continuous 5 times or more variations are respectively less than 10cm, is averaged, the three-dimensional coordinate final as the surveyor's beacon；(5) is positioned by MTB using surveyor's beacon when there is 3 or more the surveyor's beacons with final three-dimensional coordinate in Laser Scanning Equipment measurement range, reversely determines the real time position of remote control surveying vessel.The accurate positioning in the case of GPS interruption losing lock and complete losing lock may be implemented in the present invention.
Description
Technical field
The present invention relates to a kind of air navigation aid more particularly to a kind of surveyor's beacon method positioning for drone after GPS losing lock
Air navigation aid.
Background technique
Currently, the precision positioning method of remote control surveying vessel is mainly by the way of GPS and inertial navigation integrated positioning, between GPS
When disconnected losing lock, drone is continued as using inertial navigation, the information of position and posture is provided.But be limited to inertial navigation positioning precision with
The problem of time drift, only to GPS discontinuity losing lock the case where it is effective, be difficult to meet in some special areas, GPS is for a long time
In the case of losing lock, it is accurately positioned.In addition, having scholar it is also proposed that a kind of base in the field of outdoor robot independent navigation
In panorama near-infrared landmark identification algorithm to robot carry out location navigation method, but this method solve only robot and
The problem of road sign relative positioning, can just carry out absolute fix, this work pattern only when road sign is laid in known location
Seriously constrain the flexibility of road sign laying, and panorama near-infrared satisfies the need that identify and position precision lower for target, is difficult to meet
Requirement of the measurement type drone to positioning accuracy.
In conclusion remote control surveying vessel is before and after GPS losing lock, incoherent problem in the linking of location navigation work；With
And after GPS losing lock, how to pass through the surveyor's beacon being freely arranged, pinpoint continuously for a long time ask is carried out to remote control surveying vessel
Topic.
Summary of the invention
To overcome disadvantages mentioned above, the purpose of the present invention is to provide one kind, and GPS interruption losing lock and complete losing lock may be implemented
In the case of a kind of pinpoint surveyor's beacon method positioning navigation method for drone after GPS losing lock.
In order to reach the goals above, the technical solution adopted by the present invention is that: a kind of observing after GPS losing lock for drone
Mark method positioning navigation method includes the following steps: that (1) continuously lays m surveyor's beacon in the serious shielding region of river revetment two sides,
Wherein m is the natural number greater than 3, is provided with Laser Scanning Equipment at the top of remote control surveying vessel, can be laser radar, work as remote control
When surveying vessel enters the serious shielding region, at least there are three surveyor's beacons within the scope of the ranging of Laser Scanning Equipment；(2) is distant
Surveying vessel operation is controlled, when remote control surveying vessel is at unobscured region, GPS state is fixed solution, and the positioning of remote control surveying vessel is led
Work of navigating is completed by GPS and inertial navigation set；Before remote control surveying vessel enters serious shielding region, surveyor's beacon can be appeared in repeatedly
In the measurement range of Laser Scanning Equipment, it will be presented in measuring system in the form of cloud in real time；(3) analysis system
It identifies surveyor's beacon, and each surveyor's beacon is numbered, positioned by BTM, obtain the initial three-dimensional coordinate of each surveyor's beacon；(4) remote control is surveyed
Amount ship continues to move ahead, and surveyor's beacon can be appeared in repeatedly in measuring system, and the state of GPS is still fixed solution, if the three-dimensional coordinate of surveyor's beacon
Continuous 5 times or more variations are respectively less than 10cm, so as to obtain data reliable by GPS, stability is preferable, then take being averaged for this 5 times measurements
Value, the three-dimensional coordinate final as the surveyor's beacon；(5), which works as, has 3 or more to have final three-dimensional in Laser Scanning Equipment measurement range
When the surveyor's beacon of coordinate, is positioned using surveyor's beacon by MTB, reversely determine the real time position of remote control surveying vessel；(6) works as GPS positioning
State is become the moment of losing lock from original fixed solution state, and remote control surveying vessel has entered serious shielding region, location navigation
Work takes over GPS by surveyor's beacon positioning immediately and continues operation；(7) remote control surveying vessel continues when driving according to design course line, new when having
Surveyor's beacon when appearing within the scope of laser scanning, in such a way that BTM is positioned, after repeatedly measuring new surveyor's beacon, determine new surveyor's beacon
Final three-dimensional coordinate；(8) new surveyor's beacon is brought into surveyor's beacon positioning system, and combination resolves the exact position of remote control surveying vessel；
(9) repeats step (7)-(8), up to system monitoring to GPS state is fixed solution；(10) surveyor's beacon positioning is taken over by GPS, again
It obtains to remote control surveying vessel location navigation.
The invention has the advantages that the positioning of remote control surveying vessel is completed by GPS and surveyor's beacon positioning joint, and fixed with GPS
Based on position, positioned with surveyor's beacon supplemented by, GPS interruption losing lock and complete losing lock situation may be implemented in and real-time monitoring GPS positioning state
Under accurate positioning, in addition, the laser radar of hull top, which is arranged in, can provide the positioning precision of real-time Centimeter Level,
The surveyor's beacon for having special reflecting to laser of customization also substantially increases the discrimination of target, and does not want to the installation position of surveyor's beacon
It asks, can freely lay；Before and after solving GPS losing lock, the connection problem of location navigation work；In addition, after also solving GPS losing lock, such as
What passes through the surveyor's beacon being freely arranged, the problem of accurate positioning continuously for a long time to remote control surveying vessel.
It is that the surveyor's beacon number in step (3) is divided into 4 seed types, to distinguish not as a further improvement of the present invention
Same surveyor's beacon, coding rule 1-0,1-1,1-2,1-3 ..., n-0, n-1, n-2, n-3 (n=1,2,3 ...).
Preferably, the surveyor's beacon global shape is round in one, is evenly dividing by two vertical straight lines in the quartering,
Wherein, " 0 " number surveyor's beacon is directly evenly dividing by two vertical straight lines in the quartering；" 1 " number surveyor's beacon is vertical by two
Straight line is evenly dividing in the quartering, and one of colored parts；" 2 " number surveyor's beacon is uniform by it by two vertical straight lines
Dividing is in the quartering, and two opposite colored parts；" 3 " number surveyor's beacon is evenly dividing by two vertical straight lines in four etc.
Point, and wherein three colored parts.Different surveyor's beacons are distinguished by colouring, and enable and surveyor's beacon is distinguished when laser.
Currently, the laser of some materials and color on the market be it is unreflecting, if surveyor's beacon using unreflecting material or
Color, then laser can not reflect, and be as a further improvement of the present invention, and the surveyor's beacon is enhanced by changing material and color
The reflected intensity of laser.Guarantee laser reflectivity by material and color, there is special reflecting to observe laser by customization
Mark improves the discrimination of target.
It is that the BTM positioning in the step (3) is to be determined to observe by boat-carrying positioning system as a further improvement of the present invention
The process of cursor position.
Preferably, the BTM position fixing process is, when GPS state is fixed solution, to obtain its own phase by GPS first
The three-dimensional coordinate at center, the relative positional relationship then demarcated according to GPS and Laser Scanning Equipment calculate Laser Scanning Equipment
The position at center, and then its relative position with surveyor's beacon measured according to Laser Scanning Equipment, calculate the three-dimensional coordinate of surveyor's beacon.
It is automatic to calculate surveyor's beacon coordinate and inverse scanning device coordinate.
It is that the MTB positioning in the step (5) is by least three and to have determined that standard as a further improvement of the present invention
The surveyor's beacon of true position determines the process of remote metering ship position.
Preferably, the MTB position fixing process is, when GPS state is losing lock, by least three and has determined that coordinate first
The surveyor's beacon of position calculates sharp according to the relative positional relationship of the known surveyor's beacon of Laser Scanning Equipment measurement and its scanning center
Then the position at optical scanning device center is closed according to the relative position that filters center and remote control surveying vessel center have been demarcated
System, and then calculate the spatial position of remote control surveying vessel.Orientation problem in the case of solution GPS losing lock.
Detailed description of the invention
Fig. 1 is the surveyor's beacon number schematic diagram of the present embodiment；
Fig. 2 is the legal position schematic diagram of the present embodiment remote control surveying vessel surveyor's beacon；
Fig. 3 is the present embodiment remote control surveying vessel surveyor's beacon method positioning flow figure.
In figure:Indicate that GPS is worked normally；Indicate GPS losing lock；→ indicate that BTM positions (Boat To
Markers)；Indicate MTB positioning.
Specific embodiment
The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawing, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, so as to make a clearer definition of the protection scope of the present invention.
Referring to shown in attached drawing 1-3, a kind of surveyor's beacon method location navigation side for drone after GPS losing lock of the present embodiment
Method the steps include:
(1) blocks more serious region in river revetment two sides, continuously freely lays surveyor's beacon, but need to guarantee to survey in remote control
When amount ship enters the region, within the scope of the ranging of Laser Scanning Equipment, at least there are three surveyor's beacons；
(2) after surveyor's beacon is laid, remote control surveying vessel starts operation, and in unobscured river surface, i.e. GPS state is solid
When solving surely, the location navigation work of remote control surveying vessel is completed by GPS and inertial navigation set；
(3) for before remote control surveying vessel enters the region of serious shielding, surveyor's beacon can repeatedly appear in the survey of Laser Scanning Equipment
It measures in range, will be presented in measuring system in the form of cloud in real time；
(4) surveyor's beacon of customization has special laser reflection intensity, and particularity is embodied in the material and color of surveyor's beacon,
Material, color consider that its reflected intensity, such as the material of surveyor's beacon can select hardboard, plastic plate and plank, surveyor's beacon
Color can select the light colors such as white, pale yellow and pale red, and the reflected intensity of these materials and color is extremely strong, such analysis system
It can rapidly and accurately identify surveyor's beacon, and each surveyor's beacon is numbered, then, be positioned by BTM, obtain the initial of each surveyor's beacon
Three-dimensional coordinate；
(5) remote control surveying vessel continues to move ahead, and surveyor's beacon can be appeared in repeatedly in measuring system, and the state of GPS is still solid at this time
Fixed solution takes the average value of this 5 times measurements, observes as this if the three-dimensional coordinate of surveyor's beacon continuous 5 times or more variations are respectively less than 10cm
Mark final three-dimensional coordinate；
(6) is when there is 3 or more the surveyor's beacons with final three-dimensional coordinate in Laser Scanning Equipment measurement range, Ji Keli
It is positioned with surveyor's beacon by MTB, reversely determines the real time position of remote control surveying vessel；
(7) is at this point, the positioning of remote control surveying vessel is completed by GPS and surveyor's beacon positioning joint, and based on GPS positioning, to observe
It demarcates supplemented by position, and real-time monitoring GPS positioning state；
(8) is become moment of losing lock, blocking at this point, remote control surveying vessel has entered from fixed solution state when GPS positioning state
Critical regions, location navigation work take over GPS by surveyor's beacon positioning immediately and continue operation；
(9) remote control surveying vessel continues according to design course line when driving, when there is new surveyor's beacon to appear within the scope of laser scanning
When, in such a way that BTM is positioned, after repeatedly measuring new surveyor's beacon, determine the final three-dimensional coordinate of new surveyor's beacon；
(10) brings new surveyor's beacon in surveyor's beacon positioning system into, and combination resolves the exact position of remote control surveying vessel；
(11) repeats step (9)-(10), up to system monitoring to GPS state is fixed solution；
(12) is positioned at this point, taking over surveyor's beacon by GPS, regains the priority to remote control surveying vessel location navigation.Extremely
This, completes in remote control surveying vessel GPS by fixed solution to losing lock, then arrives fixed solution, and the location navigation of whole process works.
Wherein, the surveyor's beacon number in step (4), specifically: the surveyor's beacon in the present invention is divided into 4 seed types, number rule
It is then 1-0,1-1,1-2,1-3 ..., n-0, n-1, n-2, n-3 (n=1,2,3 ...), as shown in Figure 1, surveyor's beacon global shape is in
One is round, is evenly dividing by two vertical straight lines in the quartering, wherein (a) of Fig. 1 is No. 0 surveyor's beacon directly by two
Vertical straight line is evenly dividing in the quartering；(b) of Fig. 1 is that No. 1 surveyor's beacon is evenly dividing by two vertical straight lines
In the quartering, and one of colored parts；(c) of Fig. 1 is that No. 2 surveyor's beacons are evenly dividing by two vertical straight lines in four
Equal part, and two opposite colored parts；(d) of Fig. 1 is that No. 3 surveyor's beacons are evenly dividing by two vertical straight lines in four etc.
Point, and wherein three colored parts, it can be such as white, pale yellow and pale red light using the color that can enhance laser reflection intensity
System.
In addition, the BTM positioning in step (4) is the process for determining surveyor's beacon position by boat-carrying positioning system.The reality of BTM positioning
It applies process: when GPS state is fixed solution, the three-dimensional coordinate of its own phase center is obtained by GPS first, then according to GPS
The relative positional relationship demarcated with Laser Scanning Equipment, calculates the position at Laser Scanning Equipment center, and then is swept according to laser
Its relative position with surveyor's beacon for retouching device measuring, calculates the three-dimensional coordinate of surveyor's beacon.
MTB positioning in step (6) is by being no less than 3 and having determined that the surveyor's beacon of accurate location determines remote metering accommodation
The process set, the implementation process of MTB positioning: when GPS state is losing lock, first by being no less than 3 and having determined that coordinate position
Surveyor's beacon, according to Laser Scanning Equipment measurement known surveyor's beacon and its scanning center relative positional relationship, calculate laser and sweep
The position of equipment center is retouched, the relative positional relationship then demarcated according to filters center and remote control surveying vessel center, into
And calculate the spatial position of remote control surveying vessel.
The technical concepts and features of embodiment of above only to illustrate the invention, its object is to allow be familiar with technique
People understands the contents of the present invention and is implemented, and it is not intended to limit the scope of the present invention, all spiritual according to the present invention
The equivalent change or modification that essence is done, should be covered by the scope of protection of the present invention.
Claims (8)
1. a kind of surveyor's beacon method positioning navigation method for drone after GPS losing lock, which comprises the steps of:
(1) continuously lays m surveyor's beacon in the serious shielding region of river revetment two sides, and wherein m is the natural number greater than 3, remote control
Laser Scanning Equipment is provided at the top of surveying vessel, when remote control surveying vessel enter the serious shielding region when, at least there are three
Surveyor's beacon is within the scope of the ranging of Laser Scanning Equipment；
(2) remote control surveying vessel operation, when remote control surveying vessel is at unobscured region, GPS state is fixed solution, remote metering
The location navigation work of ship is completed by GPS and inertial navigation set；Before remote control surveying vessel enters serious shielding region, surveyor's beacon meeting
It repeatedly appears in the measurement range of Laser Scanning Equipment, will be presented in measuring system in the form of cloud in real time；
(3) analysis system identifies surveyor's beacon, and numbers to each surveyor's beacon, is positioned by BTM, obtains initial the three of each surveyor's beacon
Tie up coordinate；
(4) remote control surveying vessel continues to move ahead, and surveyor's beacon can be appeared in repeatedly in measuring system, and GPS state is still fixed solution, if observing
Target three-dimensional coordinate continuous 5 times or more variations are respectively less than 10cm, take the average values of this 5 times measurements, as the surveyor's beacon it is final three
Tie up coordinate；
(5) is logical using surveyor's beacon when there is 3 or more the surveyor's beacons with final three-dimensional coordinate in Laser Scanning Equipment measurement range
MTB positioning is crossed, reversely determines the real time position of remote control surveying vessel；
(6) is become moment of losing lock from fixed solution when GPS positioning state, and remote control surveying vessel has entered serious shielding region, determines
Position navigation work takes over GPS by surveyor's beacon positioning immediately and continues operation；
(7) remote control surveying vessel continues when driving according to design course line, when there is new surveyor's beacon to appear within the scope of laser scanning,
In such a way that BTM is positioned, after repeatedly measuring new surveyor's beacon, the final three-dimensional coordinate of new surveyor's beacon is determined；
(8) new surveyor's beacon is brought into surveyor's beacon positioning system, and combination resolves the exact position of remote control surveying vessel；
(9) repeats step (7)-(8), up to system monitoring to GPS state is fixed solution；
(10) takes over surveyor's beacon positioning by GPS, regains to remote control surveying vessel location navigation.
2. according to claim 1 be used for surveyor's beacon method positioning navigation method of the drone after GPS losing lock, feature exists
In surveyor's beacon in step (3) number, it is divided into 4 seed types, coding rule 1-0,1-1,1-2,1-3 ..., n-0,
N-1, n-2, n-3, wherein n=1,2,3 ....
3. according to claim 2 be used for surveyor's beacon method positioning navigation method of the drone after GPS losing lock, feature exists
In: the surveyor's beacon global shape is round in one, is evenly dividing by two vertical straight lines in the quartering, wherein
" 0 " number surveyor's beacon is directly evenly dividing by two vertical straight lines in the quartering；
" 1 " number surveyor's beacon is evenly dividing by two vertical straight lines in the quartering, and one of colored parts；
" 2 " number surveyor's beacon is evenly dividing by two vertical straight lines in the quartering, and two opposite colored parts；
" 3 " number surveyor's beacon is evenly dividing by two vertical straight lines in the quartering, and wherein three colored parts.
4. according to claim 1 be used for surveyor's beacon method positioning navigation method of the drone after GPS losing lock, feature exists
In: the surveyor's beacon enhances the reflected intensity of laser by changing material and color.
5. according to claim 1 be used for surveyor's beacon method positioning navigation method of the drone after GPS losing lock, feature exists
In: the BTM positioning in the step (3) is the process that surveyor's beacon position is determined by boat-carrying positioning system.
6. according to claim 5 be used for surveyor's beacon method positioning navigation method of the drone after GPS losing lock, feature exists
In: the BTM position fixing process is, when GPS state is fixed solution, obtains the three-dimensional of its own phase center by GPS first and sits
Mark, the relative positional relationship then demarcated according to GPS and Laser Scanning Equipment calculate the position at Laser Scanning Equipment center,
And then its relative position with surveyor's beacon measured according to Laser Scanning Equipment, calculate the three-dimensional coordinate of surveyor's beacon.
7. according to claim 1 be used for surveyor's beacon method positioning navigation method of the drone after GPS losing lock, feature exists
In: the MTB positioning in the step (5) is by least three and to have determined that the surveyor's beacon of accurate location determines remote metering ship position
Process.
8. according to claim 7 be used for surveyor's beacon method positioning navigation method of the drone after GPS losing lock, feature exists
It is, when GPS state is losing lock, by least three and to have determined that the surveyor's beacon of coordinate position, root first in: the MTB position fixing process
According to the known surveyor's beacon of Laser Scanning Equipment measurement and the relative positional relationship of its scanning center, Laser Scanning Equipment center is calculated
Position, the relative positional relationship then demarcated according to filters center and remote control surveying vessel center, and then calculate distant
Control the spatial position of surveying vessel.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201637411U (en) * | 2010-03-10 | 2010-11-17 | 中国人民解放军海军海洋测绘研究所 | Distributed ocean surveying system based on wireless data transmission technology |
| CN201885713U (en) * | 2010-12-20 | 2011-06-29 | 重庆中设工程设计有限公司 | Laser positioning signal for segmental prefabrication measurement |
| CN105865334A (en) * | 2016-04-14 | 2016-08-17 | 江苏省测绘工程院 | Underground structure surveying and mapping method |
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2017
- 2017-02-24 CN CN201710104003.3A patent/CN106896394B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201637411U (en) * | 2010-03-10 | 2010-11-17 | 中国人民解放军海军海洋测绘研究所 | Distributed ocean surveying system based on wireless data transmission technology |
| CN201885713U (en) * | 2010-12-20 | 2011-06-29 | 重庆中设工程设计有限公司 | Laser positioning signal for segmental prefabrication measurement |
| CN105865334A (en) * | 2016-04-14 | 2016-08-17 | 江苏省测绘工程院 | Underground structure surveying and mapping method |
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