CN110178099A - 无人机航向确定方法和无人机 - Google Patents
无人机航向确定方法和无人机 Download PDFInfo
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- CN110178099A CN110178099A CN201780083213.7A CN201780083213A CN110178099A CN 110178099 A CN110178099 A CN 110178099A CN 201780083213 A CN201780083213 A CN 201780083213A CN 110178099 A CN110178099 A CN 110178099A
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1654—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with electromagnetic compass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- B64U2201/104—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] using satellite radio beacon positioning systems, e.g. GPS
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electromagnetism (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
本发明公开了一种无人机航向确定方法和无人机。其中方法包括:通过第一传感***获取无人机当前的第一航向角,以及通过第二传感***获取无人机当前的第二航向角;根据第一航向角判断第二航向角是否有效;若第二航向角无效,确定第一航向角为无人机的当前航向角。本发明解决了现有技术中,由于受到干扰等因素的影响,使得电子罗盘或者实时动态差分法等测量航向角时,导致测得的无人机航向错误的技术问题。
Description
PCT国内申请,说明书已公开。
Claims (30)
- PCT国内申请,权利要求书已公开。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/CN2017/086196 WO2018214166A1 (zh) | 2017-05-26 | 2017-05-26 | 无人机航向确定方法和无人机 |
Publications (2)
Publication Number | Publication Date |
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CN110178099A true CN110178099A (zh) | 2019-08-27 |
CN110178099B CN110178099B (zh) | 2022-05-10 |
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CN201780083213.7A Active CN110178099B (zh) | 2017-05-26 | 2017-05-26 | 无人机航向确定方法和无人机 |
Country Status (9)
Country | Link |
---|---|
US (1) | US11385059B2 (zh) |
EP (1) | EP3633483A4 (zh) |
JP (1) | JP6843241B2 (zh) |
KR (1) | KR102271904B1 (zh) |
CN (1) | CN110178099B (zh) |
AU (1) | AU2017415194B2 (zh) |
CA (1) | CA3051611A1 (zh) |
RU (1) | RU2717703C1 (zh) |
WO (1) | WO2018214166A1 (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112525217A (zh) * | 2020-11-19 | 2021-03-19 | 深圳市哈博森科技有限公司 | 一种基于无线电测向的无人机地磁故障检测方法 |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
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AU2017415194B2 (en) * | 2017-05-26 | 2021-05-27 | Guangzhou Xaircraft Technology Co., Ltd. | Method for determining heading of unmanned aerial vehicle and unmanned aerial vehicle |
CN109490932B (zh) * | 2018-12-26 | 2022-08-23 | 上海司南卫星导航技术股份有限公司 | 判断rtk定向结果可靠性的方法、oem板卡、接收机及存储介质 |
WO2021050161A2 (en) * | 2019-07-10 | 2021-03-18 | University Of Kansas | Guiding an unmanned aerial vehicle using multi-point guidance |
KR102499995B1 (ko) | 2020-07-22 | 2023-02-15 | 한국전자통신연구원 | 무인기 검출을 위한 정찰 무인기 및 이의 감시구역 비행 방법 |
CN113375668B (zh) * | 2021-08-12 | 2021-11-09 | 智道网联科技(北京)有限公司 | 卫星导航***的天线安装角标定方法及装置 |
CN113867370B (zh) * | 2021-12-02 | 2022-04-12 | 智道网联科技(北京)有限公司 | 一种基于时间同步的障碍物航向角计算方法及装置 |
CN113923774B (zh) * | 2021-12-09 | 2022-03-25 | 腾讯科技(深圳)有限公司 | 目标终端的位置确定方法和装置、存储介质及电子设备 |
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- 2017-05-26 JP JP2019528525A patent/JP6843241B2/ja active Active
- 2017-05-26 CN CN201780083213.7A patent/CN110178099B/zh active Active
- 2017-05-26 CA CA3051611A patent/CA3051611A1/en active Pending
- 2017-05-26 WO PCT/CN2017/086196 patent/WO2018214166A1/zh active Application Filing
- 2017-05-26 US US16/480,641 patent/US11385059B2/en active Active
- 2017-05-26 RU RU2019126673A patent/RU2717703C1/ru active
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Publication number | Priority date | Publication date | Assignee | Title |
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CN112525217A (zh) * | 2020-11-19 | 2021-03-19 | 深圳市哈博森科技有限公司 | 一种基于无线电测向的无人机地磁故障检测方法 |
Also Published As
Publication number | Publication date |
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WO2018214166A1 (zh) | 2018-11-29 |
EP3633483A1 (en) | 2020-04-08 |
AU2017415194A1 (en) | 2019-08-15 |
AU2017415194B2 (en) | 2021-05-27 |
EP3633483A4 (en) | 2020-12-30 |
US20200011670A1 (en) | 2020-01-09 |
JP2020518496A (ja) | 2020-06-25 |
CN110178099B (zh) | 2022-05-10 |
US11385059B2 (en) | 2022-07-12 |
KR20190109478A (ko) | 2019-09-25 |
CA3051611A1 (en) | 2018-11-29 |
KR102271904B1 (ko) | 2021-07-02 |
RU2717703C1 (ru) | 2020-03-25 |
JP6843241B2 (ja) | 2021-03-17 |
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