CN109579841A - Vehicle-mounted fire-fighting top load rotor wing unmanned aerial vehicle high-precision locating method under the conditions of GPS defence - Google Patents
Vehicle-mounted fire-fighting top load rotor wing unmanned aerial vehicle high-precision locating method under the conditions of GPS defence Download PDFInfo
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Abstract
The invention discloses fire-fighting top load rotor wing unmanned aerial vehicle high-precision locating methods vehicle-mounted under the conditions of a kind of GPS defence, comprising the following steps: the first step, the initialization deployment of fire-fighting rotor wing unmanned aerial vehicle；Using ground maneuver fire fighting truck as base station, four draw-wire displacement sensors are disposed in its vehicle roof platform, each sensor is mounted on the turntable with measurement drawstring direction, the corresponding azimuth in drawstring direction and the angle of site are measured by two shaft-position encoders on turntable respectively, then the flexible rope end of four displacement sensors is mounted to uav bottom and is connected and is located；Second step, displacement sensor and the acquisition of angular measurement sensor data；Third step, fire-fighting rotor wing unmanned aerial vehicle spatial position calculating coordinate.The present invention realizes the accurate reliable resolving of fire-fighting rotor wing unmanned aerial vehicle spatial position, and autonomous or semi-autonomous flight when for fire-fighting rotor wing unmanned aerial vehicle to high-rise and fire fighting of super high-rise building operation provides prerequisite, improves safety when fireman's operation.
Description
Technical field
The present invention relates to field of locating technology, under the conditions of especially a kind of GPS defence vehicle-mounted fire-fighting top load rotor nobody
Machine high-precision locating method.
Background technique
Urban fire control problem is always to perplex the great difficult problem of urban economy development, once saving not in time, be will cause huge
Big property and casualties loss.According to incompletely statistics, existing 100 meters of China or more high building is ten hundreds of, coming 10 years, in
The growth rate and quantity of state's skyscraper will show disdain for the whole world.The emergence of super high-rise building brings immense pressure to urban fire control.
Currently, tall-building fire fighting generallys use and builds aerial ladder using giant ejecting extinguishing, domestic highest aerial ladder at present only 101
Rice, and cost is extremely expensive, figure is bulky and hulking, can not popularize on a large scale in the narrow urban fire control of heavy traffic, road,
And the height to skyscraper fire extinguishing is not achieved in the fire fighting truck minimized.In recent years, domestic and international rotor wing unmanned aerial vehicle technology obtains
Rapid development, and gradually drive on boldly to the army and the people's application field, existing many enterprises and scientific research institution start research and development for fire-fighting
Unmanned plane model machine.But positioning under the conditions of rotor wing unmanned aerial vehicle GPS between urban architecture building is unreliable or the defences such as no signal
Problem is one of the main bottleneck for hindering rotor wing unmanned aerial vehicle to apply in fire-fighting domain.
It is positioned currently, outdoor fire fighting unmanned plane is all made of satellite (such as GPS), due to GPS positioning lacking inherently
It falls into, when fire-fighting unmanned plane is between the building of urban skyscraper, GPS signal is easy to be blocked, to signal occur not
Reliably, signal is weak or the defence situation of no signal.Therefore, traditional fire-fighting unmanned plane based on GPS positioning can not be effective at present
Fulfil the fire-fighting orientation problem between building.
Summary of the invention
The purpose of the present invention is to provide vehicle-mounted fire-fighting top load rotor wing unmanned aerial vehicle under the conditions of a kind of GPS defence is high-precision fixed
Position method, the orientation problem under the conditions of solving between urban architecture building that GPS is unreliable or the defences such as no signal.
The technical solution for realizing the aim of the invention is as follows: under the conditions of a kind of GPS defence vehicle-mounted fire-fighting top load rotor without
Man-machine high-precision locating method, comprising the following steps:
The first step, the initialization deployment of fire-fighting rotor wing unmanned aerial vehicle；It is flat in its roof using ground maneuver fire fighting truck as base station
Platform disposes four draw-wire displacement sensors, and each sensor is mounted on the turntable with measurement drawstring direction, drawstring direction
Corresponding azimuth and the angle of site are measured by two shaft-position encoders on turntable respectively, then by four displacement sensors
Flexible rope end is mounted to uav bottom；
Second step, displacement sensor and the acquisition of angular measurement sensor data；
Third step, fire-fighting rotor wing unmanned aerial vehicle spatial position calculating coordinate.
Compared with prior art, the present invention its remarkable advantage are as follows: (1) GPS signal is unreliable between the building of city, signal is weak
Or under the conditions of defence, the present invention realize fire-fighting rotor wing unmanned aerial vehicle spatial position accurate reliable resolving, thus for fire-fighting rotor without
It is man-machine to high-rise and fire fighting of super high-rise building operation when autonomous or semi-autonomous flight prerequisite is provided, reach mitigation fireman
Operating pressure and burden improve safety when fireman's operation；(2) fire-fighting rotor wing unmanned aerial vehicle is minimized in the present invention with ground
Fire fighting truck is platform, significantly improves the reaction treatment speed of the current maneuverability of intercity fire-fighting and reply burst fire-fighting event
Degree；Since fire-fighting rotor wing unmanned aerial vehicle is only mounted on original fire fighting truck, do not conflict with fire-fighting function traditional before, can have
Effect is realized and is had complementary functions.
Further detailed description is done to the present invention with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is fire-fighting rotor wing unmanned aerial vehicle operation schematic diagram.
Fig. 2 is that four draw-wire displacement sensors dispose schematic diagram.
Fig. 3 is that turntable azimuth and the angle of site define schematic diagram.
Fig. 4 is that fire-fighting rotor wing unmanned aerial vehicle spatial position resolves flow chart.
Fig. 5 is fire-fighting rotor wing unmanned aerial vehicle position calculation accuracy GDOP curve graph under typical condition.
Specific embodiment
The present invention proposes a kind of top load rotor wing unmanned aerial vehicle high-precision based on ground equipment of small motor fire fighting truck as base station
Localization method, the orientation problem under the conditions of can solving that GPS between urban architecture building is unreliable or the defences such as no signal, positioning accurate
Degree is significantly better than single-point GPS location precision.
Vehicle-mounted fire-fighting top load rotor wing unmanned aerial vehicle high-precision locating method under the conditions of a kind of GPS defence, comprising the following steps:
Step 1: the initialization deployment of fire-fighting rotor wing unmanned aerial vehicle.
Using ground equipment of small motor fire fighting truck as base station, four draw-wire displacement sensors are disposed in its vehicle roof platform,
Each sensor is mounted on the small turntable with measurement drawstring direction, the corresponding azimuth in drawstring direction and angle of site difference
Precise measurement is carried out by two shaft-position encoders on turntable, then the flexible rope end of four displacement sensors is mounted to unmanned plane
Bottom, which is connected, to be located；
Ground equipment of small motor fire fighting truck is used to carry out the wired power supply of DC boosting, connection unmanned plane power supply for rotor wing unmanned aerial vehicle
It is tethered at cable and fire extinguisher canvas hose component (with draw off gear), in rotor wing unmanned aerial vehicle base platform carry extinguishment fire suppression bullet；
The data line of four draw-wire displacement sensors and shaft-position encoder is connect with electronic computer data acquisition port.
Rotor wing unmanned aerial vehicle space coordinates Axyz is defined and initialized, the position of four draw-wire displacement sensors: A is identified and initialize
(0,0,0), B (b0, 0,0), C (0, c0, 0), D(b0, c0, 0).
Step 2: displacement sensor and the acquisition of angular measurement sensor data.
The output data for defining four draw-wire displacement sensors is respectivelyThe turntable in corresponding drawstring direction
The output of shaft-position encoder angle measurement data is respectively as follows: azimuthThe angle of siteWherein k is indicated
Sensor data samples moment serial number.
Four draw-wire displacement sensors of k moment and the corresponding shaft-position encoder output data of each turntable are acquired, respectively
It is recorded as
Step 3: fire-fighting rotor wing unmanned aerial vehicle spatial position calculating coordinate.
1) k=0: unmanned plane initial position resolves.Based on four draw-wire displacement sensors deployed position coordinate A (0,
0,0), B (b0, 0,0), C (0, c0, 0), D (b0, c0, 0) and measurement data Using Maximum-likelihood estimation and Newton Raphson method, calculate fire-fighting rotor nobody
Machine initial spatial location coordinate T (x0, y0, z0)。
2) it k:=k+1: is based on sensor coordinates A (0,0,0), B (b0, 0,0), C (0, c0, 0), D (b0, c0, 0) and measurement
DataUsing Maximum-likelihood estimation and Newton Raphson method,
Calculate fire-fighting rotor wing unmanned aerial vehicle spatial position coordinate T (xk, yk, zk)。
3) fire-fighting rotor wing unmanned aerial vehicle task terminates and has returned to drop to ground equipment of small motor fire fighting truck vehicle roof platform, stops
Its position coordinates resolves, and exits；Otherwise, return step 2).
Technical solution of the present invention is described in detail below.
The first step " fire-fighting rotor wing unmanned aerial vehicle initialization deployment " can be completed in advance in fire-fighting period on duty, maintain to await orders under battle conditions
State: i.e. four draw-wire displacement sensors have been disposed and have been mounted in advance on equipment of small motor fire-fighting car body top turntable, related
Data cable has been connected to fire-fighting unmanned aerial vehicle (UAV) control platform computer interface, and its specific installation site parameter has measured and in advance
In typing fire-fighting unmanned aerial vehicle (UAV) control platform computer.It is connected in addition, the flexible rope end of four sensors has been mounted to uav bottom
Place, and unmanned plane power supply is tethered at cable and fire extinguisher canvas hose component has been connected to fire-fighting unmanned plane base platform.
Fire-fighting rotor wing unmanned aerial vehicle carries out wired power supply using ground fire fighting truck self-powered (generator), to guarantee unmanned plane
Have the stagnant idle job ability of long endurance and big load ability.Fire-fighting rotor wing unmanned aerial vehicle base platform can carry additionally extinguishment fire suppression bullet simultaneously
With traditional fire water monitor.UAV Flight Control and job instruction control parameter pass through Radio Link by fire-fighting unmanned aerial vehicle (UAV) control platform
It is controlled, it can be achieved that unmanned plane is from semi-autonomous flight and the key fire-fighting fire extinguishing control of advocating peace, and has a key automatic lifting stick function
Energy.Its operation schematic diagram is shown in Fig. 1.
Fire-fighting rotor wing unmanned aerial vehicle space coordinates Axyz is defined as follows: coordinate origin takes locating for draw-wire displacement sensor A
Installation site, x-axis are directed toward headstock direction by draw-wire displacement sensor B；Y-axis is hung down by draw-wire displacement sensor A and x-axis
Directly, z-axis is directed toward zenith, is standard right hand coordinate system.Four draw-wire displacement sensor deployment diagrams are shown in Fig. 2.Dragline type displacement passes
Sensor installs the positioning of turntable azimuth are as follows: with parallel x-axis forward direction to originate zero-bit, rotation is positive counterclockwise；The angle of site is defined as:
It is starting zero-bit with xAy plane, is positive upwards, is specifically defined and sees Fig. 3,For pkIn the subpoint of xAy plane.
Fire-fighting rotor wing unmanned aerial vehicle spatial position calculating coordinate principle is as follows:
It is simple to state, the deployed position coordinate of four dragline type sensors is defined as vector form:
s1=[0,0,0]T, s2=[b0, 0,0]T, s3=[0, c0, 0]T, s4=[b0, c0, 0]T (1)
According to equation (1), the deployed position coordinate vector general formula of i-th of dragline type sensor are as follows: si=[xi, yi, zi]T；
Correspondingly, the displacement measurement of four dragline type sensorsIt portrays are as follows:I=1,2,3,4；Corresponding orientation angular measurementIt portrays are as follows:I=1,2,3,4；Height angular measurementIt portrays are as follows:I=1,2,3,4.
Defining unmanned plane spatial position vector is
pk=[xk, yk, zk]T (2)
It is assumed that the measurement error of sensor is mutually indepedent and Normal Distribution, following sensor measurement equation can be established
ηi=hi(pk)+wi, i=1,2,3,4 (3)
Wherein wiFor sensor measurement errors, meet
The displacement measurement accuracy of respectively i-th draw-wire displacement sensor and i-th of turntable azimuth and angle of site measurement accuracy；For i-th group of measurement value sensor.Correspondingly, observation function vector hi(pk)=[li(pk), βi(pk), ζi
(pk)]T, each weight expression is as follows:
Define set of measurementsThe maximal possibility estimation of space unmanned plane coordinate is
Wherein lnp (z | pk) it is log-likelihood function, expression formula is
γ in formula (8)0=ln ((2 π)3/2|Ri|1/2) it is constant.(7) formula is solved using Newton Raphson method, solves nothing
Man-machine spatial position coordinate.Specific step is as follows:
1) unmanned plane coordinate x=p to be asked is enabledk, formula (7) equivalence is converted to
Wherein
2) defining j is iteration variable.Initialize coordinate estimated value when j=0
3) it is iterated solution as the following formula:
Wherein FjFor Hessian matrix:
4) judge whether to reach maximum number of iterations or converge to predictive error range, stop iteration, exit；
Otherwise it goes to step 3).
Fire-fighting rotor wing unmanned aerial vehicle spatial position resolves flow chart and sees Fig. 4.
Theory analysis now is carried out to the positioning accuracy of the technical solution.Define the Fisher's information matrix of the locating scheme
(FIM) it is J, has
Gradient is asked to log-likelihood function in (13) formula, is had
(14) formula is substituted into (13) formula, can be obtained
WhereinEach weight expression is as follows:
ui=(pk-si)/||pk-si| |=[cos βicosζi, sin βicosζi, sin ζi]T (16)
Corresponding geometric dilution of precision (GDOP) is defined as
Wherein tr { } indicates to seek the mark of parenthetic matrix.
Accuracy Analysis is carried out to the technical solution below with reference to embodiment.
Embodiment
In the present embodiment, if specified otherwise, length unit are not defaulted as rice.
It is assumed that four draw-wire displacement sensors are mounted on the vehicle roof platform of small-sized fire-fighting vehicle, corresponding position deployment parameters
Are as follows: b0=3.5m, c0=1.5m；Four draw-wire displacement sensor measurement accuracy are equal are as follows: 0.05%FS；Turntable azimuth and height
Low measurement accuracy are as follows:Dense bit,Unmanned plane initial position is in four sensor platforms
Center, initial value are as follows: p0=[x0, y0, z0]T=[1.75,0.75,0.5]T, it is assumed that the lifting under typical condition when unmanned machine operation
Track is straight line, and true value track is expressed as with parametrization equation
pk=p0+ncK Δ h, k=0,1,2 ...
Wherein Δ h is step-length, here value 25m, nc=[0,0,1]TFor unmanned plane line of motion track unit direction to
It measures, motion range z in unmanned plane short transversek∈ [0.5,375.5].
According to precision analysis formula (19), the GDOP curve acquired under the typical condition is shown in Fig. 5.As shown in Figure 5, in the allusion quotation
Under type operating condition, height 200m or less this location technology scheme unmanned plane position calculation accuracy is less than 0.05m, and height 400m or less is fixed
Position precision is less than 0.1m, is significantly better than single-point GPS location precision.On the whole, the localization method is simple, reliable, precision is high, completely
It is able to satisfy that fire-fighting rotor wing unmanned aerial vehicle is autonomous or semi-autonomous flight control job requirements.
Claims (7)
1. vehicle-mounted fire-fighting top load rotor wing unmanned aerial vehicle high-precision locating method under the conditions of a kind of GPS defence, which is characterized in that including
Following steps:
The first step, the initialization deployment of fire-fighting rotor wing unmanned aerial vehicle；Using ground maneuver fire fighting truck as base station, in its vehicle roof platform portion
Four draw-wire displacement sensors are affixed one's name to, each sensor is mounted on the turntable with measurement drawstring direction, and drawstring direction is corresponding
Azimuth and the angle of site measured respectively by two shaft-position encoders on turntable, then by the flexible of four displacement sensors
Rope end is mounted to uav bottom；
Second step, displacement sensor and the acquisition of angular measurement sensor data；
Third step, fire-fighting rotor wing unmanned aerial vehicle spatial position calculating coordinate.
2. vehicle-mounted fire-fighting top load rotor wing unmanned aerial vehicle high-precision locating method under the conditions of GPS defence according to claim 1,
It is characterized in that, the first step specifically:
The data line of four draw-wire displacement sensors and shaft-position encoder is connect with electronic computer data acquisition port, is defined
And rotor wing unmanned aerial vehicle space coordinates Axyz is initialized, identify and initialize the position of four draw-wire displacement sensors: A (0,
0,0), B (b0, 0,0), C (0, c0, 0), D (b0, c0, 0).
3. vehicle-mounted fire-fighting top load rotor wing unmanned aerial vehicle high-precision locating method under the conditions of GPS defence according to claim 2,
It is characterized in that, ground maneuver fire fighting truck is used to carry out the wired power supply of DC boosting, connection unmanned plane power supply for rotor wing unmanned aerial vehicle
It is tethered at cable and fire extinguisher canvas hose component, in rotor wing unmanned aerial vehicle base platform carry extinguishment fire suppression bullet.
4. vehicle-mounted fire-fighting top load rotor wing unmanned aerial vehicle high-precision locating method under the conditions of GPS defence according to claim 2,
It is characterized in that, fire-fighting rotor wing unmanned aerial vehicle space coordinates Axyz is defined as follows: coordinate origin takes draw-wire displacement sensor A institute
Locate installation site, x-axis is directed toward headstock direction by draw-wire displacement sensor B；Y-axis passes through draw-wire displacement sensor A and x-axis
Vertically, z-axis is directed toward zenith, is standard right hand coordinate system；；Draw-wire displacement sensor installs the positioning of turntable azimuth are as follows: with flat
Row x-axis forward direction is starting zero-bit, and rotation is positive counterclockwise；The angle of site is defined as: with xAy plane to originate zero-bit, be positive upwards.
5. vehicle-mounted fire-fighting top load rotor wing unmanned aerial vehicle high-precision locating method under the conditions of GPS defence according to claim 2,
It is characterized in that, second step specifically:
The output data for defining four draw-wire displacement sensors is respectivelyThe turntable shaft angle in corresponding drawstring direction
The output of encoder angle measurement data is respectively as follows: azimuthThe angle of siteWherein k indicates sensing
Device data sampling instants serial number；
Four draw-wire displacement sensors of k moment and the corresponding shaft-position encoder output data of each turntable are acquired, is recorded respectively
For
6. vehicle-mounted fire-fighting top load rotor wing unmanned aerial vehicle high-precision locating method under the conditions of GPS defence according to claim 5,
It is characterized in that, third step specifically:
(1) k=0: unmanned plane initial position resolves；Based on four draw-wire displacement sensors deployed position coordinate A (0,0,
0), B (b0, 0,0), C (0, c0, 0), D (b0, c0, 0) and measurement data Using Maximum-likelihood estimation and Newton Raphson method, calculate fire-fighting rotor nobody
Machine initial spatial location coordinate T (x0, y0, z0)；
(2) it k:=k+1: is based on sensor coordinates A (0,0,0), B (b0, 0,0), C (0, c0, 0), D (b0, c0, 0) and measurement dataUsing Maximum-likelihood estimation and Newton Raphson method, calculate
Fire-fighting rotor wing unmanned aerial vehicle spatial position coordinate T (xk, yk, zk)；
(3) fire-fighting rotor wing unmanned aerial vehicle task terminates and has returned to drop to ground equipment of small motor fire fighting truck vehicle roof platform, stops it
Position coordinates resolve, and exit；Otherwise, previous step is returned.
7. vehicle-mounted fire-fighting top load rotor wing unmanned aerial vehicle high-precision locating method under the conditions of GPS defence according to claim 6,
It is characterized in that, the detailed process of fire-fighting rotor wing unmanned aerial vehicle spatial position calculating coordinate are as follows:
The deployed position coordinate of four dragline type sensors is defined as vector form:
s1=[0,0,0]T, s2=[b0, 0,0]T, s3=[0, c0, 0]T, s4=[b0, c0, 0]T (1)
According to equation (1), the deployed position coordinate vector general formula of i-th of dragline type sensor are as follows: si=[xi, yi, zi]T；Accordingly
Ground, the displacement measurement of four dragline type sensorsIt portrays are as follows:Corresponding orientation angular measurementIt portrays are as follows:Height angular measurementIt portrays are as follows:
Defining unmanned plane spatial position vector is
pk=[xk, yk, zk]T (2)
It is assumed that the measurement error of sensor is mutually indepedent and Normal Distribution, following sensor measurement equation can be established
ηi=hi(pk)+wi, i=1,2,3,4 (3)
Wherein wiFor sensor measurement errors, meetRespectively
For the displacement measurement accuracy of i-th draw-wire displacement sensor and i-th of turntable azimuth and angle of site measurement accuracy；For i-th group of measurement value sensor；Correspondingly, observation function vector hi(Pk)=[li(Pk),βi(Pk),ζi
(Pk)]T, each weight expression is as follows:
Define set of measurementsThe maximal possibility estimation of space unmanned plane coordinate is
Wherein lnp (z | pk) it is log-likelihood function, expression formula is
γ in formula (8)0=ln ((2 π)3/2|Ri|1/2) it is constant；
(7) formula is solved using Newton Raphson method, solves unmanned plane spatial position coordinate, the specific steps are as follows:
1) unmanned plane coordinate x=p to be asked is enabledk, formula (7) equivalence is converted to
Wherein
2) defining j is iteration variable, initializes coordinate estimated value when j=0
3) it is iterated solution as the following formula:
Wherein FjFor Hessian matrix:
4) judge whether to reach maximum number of iterations or converge to predictive error range, stop iteration, exit；Otherwise it goes to step
3)。
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| CN114237305A (en) * | 2021-11-27 | 2022-03-25 | 河北汉光重工有限责任公司 | Direction control calculation method of sound wave rejection system |
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