CN110375745A - A kind of self-navigation air navigation aid based on angle modification - Google Patents
A kind of self-navigation air navigation aid based on angle modification Download PDFInfo
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- CN110375745A CN110375745A CN201910727728.7A CN201910727728A CN110375745A CN 110375745 A CN110375745 A CN 110375745A CN 201910727728 A CN201910727728 A CN 201910727728A CN 110375745 A CN110375745 A CN 110375745A
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- navigation
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- aid based
- gps
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- 238000012986 modification Methods 0.000 title claims abstract description 15
- 230000004048 modification Effects 0.000 title claims abstract description 15
- 238000000034 method Methods 0.000 claims abstract description 8
- 238000012937 correction Methods 0.000 claims description 6
- 230000006399 behavior Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 238000009395 breeding Methods 0.000 abstract description 6
- 230000001488 breeding effect Effects 0.000 abstract description 6
- 238000001514 detection method Methods 0.000 abstract description 5
- 230000007613 environmental effect Effects 0.000 abstract description 4
- 238000007689 inspection Methods 0.000 abstract description 4
- 238000005259 measurement Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 5
- 238000013135 deep learning Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000002715 modification method Methods 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
-
- 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
-
- 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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
-
- 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
- G05D1/02—Control of position or course in two dimensions
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The self-navigation air navigation aid based on angle modification that the invention discloses a kind of, includes the following steps: step 1: obtaining data by GPS and electronic compass；Step 2: course is adjusted according to angle；Step 3: auxiliary adjusts the speed of a ship or plane with Distance Judgment；This method obtains data using GPS and electronic compass and inputs, get rid of the dependence to camera and radar, hardware cost is reduced simultaneously, it avoids erroneous detection missing inspection and makes it possible that self-navigation is applied to agricultural breeding field, in actual measurement, the advantages of the method is can to correct course automatically, strong antijamming capability, good environmental adaptability, hardware cost is lower, is suitble in the fields such as agricultural breeding large-scale promotion.
Description
Technical field
The invention belongs to automatic navigation technology fields, and in particular to a kind of self-navigation air navigation aid based on angle modification.
Background technique
In recent years, automatic navigation technology achieves great development, can substantially be divided into two major classes；Give map and detection
Self-navigation；Self-navigation based on deep learning；Self-navigation based on map and monitoring needs to pre-establish accurately
Figure makes decisions with high precision apparatus such as radars and monitors with barrier.Its higher cost, to environmental requirement harshness, it is difficult to answer
Used in agricultural breeding, especially relate in the application scenarios of underwater environment；Self-navigation based on deep learning is also omited at present
Immature, missing inspection false detection probability is higher, and research and development improvement cost is big, and performance otherness is larger in different environments, replaces environment
After learn higher cost, be difficult to play a role in the area of the no marks object such as water surface, be also not suitable for agricultural, industry etc. is answered
With
Current automatic navigation technology relies on the data input of the sensing equipments such as camera and radar, and higher cost is right
Environmental requirement is harsh, it is difficult to apply in agricultural breeding, especially relate in the application scenarios of underwater environment, be based on deep learning
Self-navigation it is also slightly immature at present, missing inspection false detection probability is higher, research and development improvement cost it is big, and in different environments show it is poor
It is anisotropic larger, learn higher cost after replacing environment, is difficult to play a role in the area of the no marks object such as water surface, is also not suitable for agriculture
The problem of application of industry, industry etc. also constrains the application of traditional automatic navigation technology, thus it is proposed that one kind is based on
The self-navigation air navigation aid of angle modification.
Summary of the invention
The self-navigation air navigation aid based on angle modification that the purpose of the present invention is to provide a kind of, to solve above-mentioned background
The problem of being proposed in technology.
To achieve the above object, the invention provides the following technical scheme: a kind of self-navigation navigation based on angle modification
Method includes the following steps:
Step 1: data are obtained by GPS and electronic compass；
Step 2: course is adjusted according to angle；
Step 3: auxiliary adjusts the speed of a ship or plane with Distance Judgment.
Preferably, course using PID control by being realized according to deviation angle.
Preferably, when angle modification, the power of navigation will be influenced by angle correction, will use precession before a part
Power is used for angle correction.
Preferably, obtaining GPS can realize with electronic compass data in interruption.Part process also can adjust sequence, adjust
Whole sequence step by step will not generate fundamental effect to principle.
Preferably, power output is carried out using multiple-motor, each power output source is controlled by pwm signal, thus real
The behaviors such as existing spot turn.
Compared with prior art, the beneficial effects of the present invention are: this method is defeated using GPS and electronic compass acquisition data
Enter, get rid of the dependence to camera and radar, while reducing hardware cost, avoids erroneous detection missing inspection and self-navigation is answered
Agricultural breeding field to be used to be possibly realized, in actual measurement, the advantages of the method is can to correct course automatically, strong antijamming capability,
Good environmental adaptability, hardware cost is lower, is suitble in the fields such as agricultural breeding large-scale promotion.
Detailed description of the invention
Fig. 1 is the principle of the present invention schematic diagram；
Fig. 2 is flow diagram of the invention；
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-Fig. 2 is please referred to, the present invention provides a kind of technical solution: a kind of self-navigation navigation side based on angle modification
Method includes the following steps:
Step 1: data are obtained by GPS and electronic compass；
Step 2: course is adjusted according to angle；
Step 3: auxiliary adjusts the speed of a ship or plane with Distance Judgment.
In the present embodiment, it is preferred that course using PID control by being realized according to deviation angle.
In the present embodiment, it is preferred that when angle modification, the power of navigation will be influenced by angle correction, will be used
A part of onward impulse is used for angle correction.
In the present embodiment, it is preferred that obtaining GPS can realize with electronic compass data in interruption.Part process can also
Adjustment sequence, adjustment member sequence of steps will not generate fundamental effect to principle.
In the present embodiment, it is preferred that carry out power output using multiple-motor, it is defeated to control each power by pwm signal
Source out, to realize the behaviors such as spot turn.
Embodiment: the GPS coordinate of the several positions reached into needs, planning operation route is stored in advance.It is called after booting
First aim point coordinate (A point in Fig. 1) reads GPS data (C point in Fig. 1) in real time, calculates and obtains automatic omniselector to target
Point distance (m).
If m is greater than preset reduction range (D in Fig. 1), calculates and obtain target point, self-navigation device, geographic north
The corner dimension (α in Fig. 1) constituted between pole, and pass course heading (β in Fig. 1) back with electronic compass and subtract each other, it is inclined to obtain course
Digression degree (γ in Fig. 1), and course is adjusted accordingly.
If m is less than D and is greater than and closes dynamic range (d in Fig. 1), slowed down according to m.If m is less than d, power is closed, and
Call in next coordinate of ground point.
Workflow and principle of the invention are as follows: automatic omniselector real time position data is obtained by GPS, with target point
Set and be compared, know current self-navigation device and target point distance, at the same can calculate obtain target point, self-navigation device,
The corner dimension constituted between the reason arctic is compared with direction of advance is obtained by electronic compass, obtains direction of advance and mesh
Differential seat angle between mark makes self-navigation device advance always to target to be adjusted in real time.Slow down row when close to target
Speed is sailed, when reaching target point, switches to next target point, adjustment posture continues to travel.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (5)
1. a kind of self-navigation air navigation aid based on angle modification, characterized by the following steps:
Step 1: data are obtained by GPS and electronic compass；
Step 2: course is adjusted according to angle；
Step 3: auxiliary adjusts the speed of a ship or plane with Distance Judgment.
2. a kind of self-navigation air navigation aid based on angle modification according to claim 1, it is characterised in that: course is logical
It crosses according to deviation angle, is realized using PID control.
3. a kind of self-navigation air navigation aid based on angle modification according to claim 1, it is characterised in that: work as angle
When amendment, the power of navigation will be influenced by angle correction, a part of onward impulse will be used to be used for angle correction.
4. a kind of self-navigation air navigation aid based on angle modification according to claim 1, it is characterised in that: obtain
GPS can be realized with electronic compass data in interruption.Part process also can adjust sequence, and adjustment member sequence of steps will not be right
Principle generates fundamental effect.
5. a kind of self-navigation air navigation aid based on angle modification according to claim 1, it is characterised in that: using more
Engine carries out power output, each power output source is controlled by pwm signal, to realize the behaviors such as spot turn.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910727728.7A CN110375745A (en) | 2019-07-26 | 2019-07-26 | A kind of self-navigation air navigation aid based on angle modification |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910727728.7A CN110375745A (en) | 2019-07-26 | 2019-07-26 | A kind of self-navigation air navigation aid based on angle modification |
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| Publication Number | Publication Date |
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| CN110375745A true CN110375745A (en) | 2019-10-25 |
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| CN201910727728.7A Pending CN110375745A (en) | 2019-07-26 | 2019-07-26 | A kind of self-navigation air navigation aid based on angle modification |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111060131A (en) * | 2019-11-27 | 2020-04-24 | 四川阿泰因机器人智能装备有限公司 | Laser radar-based robot accurate posture correction method and device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101109958A (en) * | 2007-07-24 | 2008-01-23 | 浙江工业大学 | Pilot instrument for self-correcting set course heading |
| CN106364488A (en) * | 2015-07-20 | 2017-02-01 | Lg电子株式会社 | Autonomous vehicle |
| CN106774313A (en) * | 2016-12-06 | 2017-05-31 | 广州大学 | A kind of outdoor automatic obstacle-avoiding AGV air navigation aids based on multisensor |
| CN109070887A (en) * | 2016-05-16 | 2018-12-21 | 本田技研工业株式会社 | Vehicle control system, control method for vehicle and vehicle control program |
| CN109789873A (en) * | 2016-10-03 | 2019-05-21 | 本田技研工业株式会社 | Controller of vehicle |
-
2019
- 2019-07-26 CN CN201910727728.7A patent/CN110375745A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101109958A (en) * | 2007-07-24 | 2008-01-23 | 浙江工业大学 | Pilot instrument for self-correcting set course heading |
| CN106364488A (en) * | 2015-07-20 | 2017-02-01 | Lg电子株式会社 | Autonomous vehicle |
| CN109070887A (en) * | 2016-05-16 | 2018-12-21 | 本田技研工业株式会社 | Vehicle control system, control method for vehicle and vehicle control program |
| CN109789873A (en) * | 2016-10-03 | 2019-05-21 | 本田技研工业株式会社 | Controller of vehicle |
| CN106774313A (en) * | 2016-12-06 | 2017-05-31 | 广州大学 | A kind of outdoor automatic obstacle-avoiding AGV air navigation aids based on multisensor |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111060131A (en) * | 2019-11-27 | 2020-04-24 | 四川阿泰因机器人智能装备有限公司 | Laser radar-based robot accurate posture correction method and device |
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Application publication date: 20191025 |