CN114910918A - Positioning method and device, radar device, unmanned aerial vehicle system, controller and medium - Google Patents

Positioning method and device, radar device, unmanned aerial vehicle system, controller and medium Download PDF

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Publication number
CN114910918A
CN114910918A CN202210525133.5A CN202210525133A CN114910918A CN 114910918 A CN114910918 A CN 114910918A CN 202210525133 A CN202210525133 A CN 202210525133A CN 114910918 A CN114910918 A CN 114910918A
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China
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unmanned aerial
aerial vehicle
laser radar
point cloud
lidar
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白云浩
任雪峰
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Beijing Zhuoyi Intelligent Technology Co Ltd
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Beijing Zhuoyi Intelligent Technology Co Ltd
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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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/495—Counter-measures or counter-counter-measures using electronic or electro-optical means
    • 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
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The invention discloses a flight positioning method and device of an unmanned aerial vehicle, a laser radar device, an unmanned aerial vehicle system, a controller and a storage medium, wherein the method is based on an independently arranged laser radar and comprises the following steps: acquiring a first position of the unmanned aerial vehicle in real time, wherein the first position is positioning data of the unmanned aerial vehicle obtained based on a satellite positioning system; controlling the main optical axis of the laser radar to point according to the first position so as to obtain a second position of the unmanned aerial vehicle in real time through the laser radar; and when the positioning data of the satellite positioning system is abnormal, determining the second position as the current position of the unmanned aerial vehicle. The invention adjusts the direction of the main optical axis of the laser radar based on the positioning data of the unmanned aerial vehicle obtained by the satellite positioning system, so that the flight positioning of the unmanned aerial vehicle is obtained by the laser radar, the calculation data amount of the flight positioning of the unmanned aerial vehicle is reduced, and the processing flow of the flight positioning of the unmanned aerial vehicle is simplified.

Description

Positioning method and device, radar device, unmanned aerial vehicle system, controller and medium
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, in particular to a flight positioning method of an unmanned aerial vehicle, a flight positioning device and a laser radar device of the unmanned aerial vehicle, an unmanned aerial vehicle system, a controller and a computer readable storage medium.
Background
Currently, unmanned aerial vehicle assisted navigation mainly has the following means:
1 optical-based guidance scheme
Optics is a more extensive auxiliary landing guidance scheme which is supposed to be used at present. However, the optics itself has high requirements for the environment due to its characteristics, and the positioning accuracy deteriorates under low light conditions. The optical equipment is mounted on the drone, in particular having a great influence on the load of the rotorcraft. Meanwhile, the ground needs to be laid with landing patterns to ensure the landing precision. The optical action distance is short, and the identification distance of a fixed-focus lens is usually not more than 30 m. The range of visual guidance is achieved by varying the size grading of the ground target, but the demands on the pattern of the ground target are high.
Guide scheme based on millimeter wave radar
The millimeter wave is a novel technical direction in recent years and has all-weather advantages. The millimeter wave radar is installed on unmanned aerial vehicle, because the maturity of technique is not high, and the integrated level is low, leads to the weight of millimeter wave radar great. Meanwhile, in an application scene between cities, the millimeter wave radar and the conventional vehicle-mounted automatic driving radar are overlapped in frequency and can be greatly interfered by electromagnetic interference.
3 UWB-based positioning scheme
UWB is a positioning method applied indoors, and may also be applied to landing guidance. The UWB positioning technology has low requirements on airborne equipment, and only one identification tag needs to be carried. But the ground detection equipment required has higher installation requirements. Meanwhile, the UWB positioning accuracy is low, about 10cm, and the distance measurement is short, usually only 30 to 80 m.
4 laser radar positioning scheme
Autonomous positioning device based on lidar. And extracting the target position in the point cloud data in a shape feature matching mode. The method needs to import a reference database, compares the collected point cloud data, and has large algorithm processing capacity.
In summary, the auxiliary navigation usually adopts an airborne mode to realize auxiliary positioning of the aircraft, so that the load of the aircraft is influenced to different degrees. The perception of the environment needs higher computing power, and in order to reduce the pressure of computing equipment, positioning is realized by adding a special mark on the ground. The existing auxiliary positioning equipment is generally close in action distance, and under the condition that UWB (ultra Wide band) increases transmitting power, the action distance is less than 150 m. The algorithm has high complexity, and the optics needs image processing and feature extraction. The millimeter wave radar needs point cloud identification, algorithm complexity is high, and integration is not facilitated.
Disclosure of Invention
The invention aims to solve the technical problems of providing a flight positioning method of an unmanned aerial vehicle, a flight positioning device of the unmanned aerial vehicle, a laser radar device, an unmanned aerial vehicle system, a controller and a computer readable storage medium, and solving the problems of large load, short acting distance, large data processing capacity and the like of the unmanned aerial vehicle in the prior art.
In order to solve the technical problem, according to an aspect of the present invention, there is provided a flight positioning method for an unmanned aerial vehicle, based on an independently set laser radar, the method including:
acquiring a first position of the unmanned aerial vehicle in real time, wherein the first position is positioning data of the unmanned aerial vehicle obtained based on a satellite positioning system;
controlling the main optical axis of the laser radar to point according to the first position so as to obtain a second position of the unmanned aerial vehicle in real time through the laser radar;
and when the positioning data of the satellite positioning system is abnormal, determining the second position as the current position of the unmanned aerial vehicle.
In some embodiments, the step of controlling the main optical axis pointing direction of the lidar according to the first position to obtain the second position of the drone in real time by the lidar includes:
calculating a normal offset direction of the laser radar according to the first position, and controlling the normal direction of the laser radar to point to the unmanned aerial vehicle based on the normal offset direction;
acquiring point cloud data acquired by the laser radar in real time, and establishing point cloud frame data;
calculating a deviation vector of the laser radar according to the wheelbase of the unmanned aerial vehicle and the point cloud frame data;
adjusting a deflection angle of the laser radar according to the deviation vector so as to point a main optical axis of the laser radar to the unmanned aerial vehicle;
calculating the second position of the drone according to the deflection angle of the lidar.
In some embodiments, the step of calculating a deviation vector of the lidar according to the wheelbase of the drone and the point cloud frame data includes:
projecting in the direction of a main optical axis of the laser radar according to the wheelbase of the unmanned aerial vehicle to obtain unmanned aerial vehicle projection;
deleting the point cloud frame data outside the unmanned aerial vehicle projection range in the point cloud frame data to obtain target point cloud frame data;
and calculating the deviation vector through the pointing direction of the center of the target point cloud frame data and the main optical axis of the laser radar.
In some embodiments, the method further comprises:
taking a plurality of second positions within a preset historical time as historical positions of the unmanned aerial vehicle;
calculating the predicted position of the unmanned aerial vehicle at the next moment according to the historical position;
and controlling the laser radar to deflect according to the predicted position so that the main optical axis of the laser radar points to the predicted position.
According to another aspect of the invention, there is provided a flight positioning device for a drone, based on a separately provided lidar, the device comprising:
the position acquisition module is configured to acquire a first position of the unmanned aerial vehicle in real time, wherein the first position is positioning data of the unmanned aerial vehicle obtained based on a satellite positioning system;
the radar control module is configured to control the main optical axis of the laser radar to point according to the first position so as to obtain a second position of the unmanned aerial vehicle in real time through the laser radar;
a position determination module configured to determine the second position as a current position of the drone when the positioning data of the satellite positioning system is abnormal.
In some embodiments, the radar control module comprises:
an offset direction calculation sub-module configured to calculate a normal offset direction of the lidar from the first position, and control a normal direction of the lidar to point at the drone based on the normal offset direction;
the point cloud establishing sub-module is configured to acquire point cloud data acquired by the laser radar in real time and establish point cloud frame data;
an offset vector calculation sub-module configured to calculate an offset vector of the lidar according to the wheelbase of the drone and the point cloud frame data;
a radar adjustment sub-module configured to adjust a deflection angle of the lidar in accordance with the deviation vector to direct a primary optical axis of the lidar towards the drone;
a position calculation submodule configured to calculate the second position of the drone from the angle of deflection of the lidar.
In some embodiments, the deviation vector calculation sub-module comprises:
the projection unit is configured to project in the main optical axis direction of the laser radar according to the wheelbase of the unmanned aerial vehicle so as to obtain unmanned aerial vehicle projection;
the deleting unit is configured to delete the point cloud frame data outside the unmanned aerial vehicle projection range in the point cloud frame data to obtain target point cloud frame data;
a calculation unit configured to calculate the deviation vector by a pointing direction of a center of the target point cloud frame data and a main optical axis of the laser radar.
In some embodiments, the apparatus further comprises:
a historical location module configured to take a plurality of the second locations within a preset historical time as historical locations of the drone;
the position prediction module is configured to calculate a predicted position of the unmanned aerial vehicle at the next moment according to the historical position;
a radar pointing module configured to control the lidar to deflect according to the expected position such that a primary optical axis of the lidar points to the expected position.
According to another aspect of the present invention, there is provided a lidar device comprising a lidar, a head, and a flight control device of the drone according to any of the embodiments above;
the holder is connected to the laser radar and controls the deflection angle of the laser radar;
and the flight control device of the unmanned aerial vehicle is connected with the laser radar, the holder and the unmanned aerial vehicle ground station.
According to another aspect of the invention, there is provided a drone system comprising: unmanned aerial vehicle, take-off platform, unmanned aerial vehicle ground satellite station and the laser radar device of above-mentioned embodiment.
According to another aspect of the invention, there is provided a controller comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, is capable of implementing the steps of the method of flight positioning of a drone according to any one of the above.
According to a further aspect of the invention, there is provided a computer readable storage medium for storing a computer program which, when executed by a computer or processor, performs the steps of the method for flight positioning of a drone according to any one of the above.
Compared with the prior art, the invention has obvious advantages and beneficial effects. By means of the technical scheme, the flight positioning method of the unmanned aerial vehicle, the flight positioning device of the unmanned aerial vehicle, the laser radar device, the unmanned aerial vehicle system, the controller and the computer readable storage medium can achieve considerable technical progress and practicability, have industrial wide utilization value and at least have the following advantages:
according to the invention, the orientation of the main optical axis of the laser radar is adjusted based on the positioning data of the unmanned aerial vehicle obtained by the satellite positioning system, so that the flight positioning of the unmanned aerial vehicle is obtained through the laser radar, the calculation data amount of the flight positioning of the unmanned aerial vehicle is reduced, and the processing flow of the flight positioning of the unmanned aerial vehicle is simplified.
According to the flight positioning method of the unmanned aerial vehicle, when data of the satellite positioning system are abnormal, the laser radar is directly switched to be positioned, so that the position of the unmanned aerial vehicle is prevented from being lost in the flight process, and the flight safety of the unmanned aerial vehicle is ensured.
And thirdly, the laser radar is independently arranged, so that the load of the unmanned aerial vehicle is reduced, and the cruising ability of the unmanned aerial vehicle is ensured.
According to the invention, the main optical axis of the laser radar is always irradiated on the body of the unmanned aerial vehicle through calculating the flying position of the unmanned aerial vehicle at the next moment, so that the dynamic tracking of the laser radar is realized, the data calculation amount is reduced, and the time consumption for positioning the unmanned aerial vehicle is reduced.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are described in detail with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic flow chart of a flight positioning method of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a flight positioning method of an unmanned aerial vehicle according to another embodiment of the present invention;
fig. 3 is a schematic block diagram of a flight positioning device of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 4 is a schematic block diagram of a flight positioning device of a drone according to another embodiment of the present invention.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the embodiments and effects of a method for positioning a flight of an unmanned aerial vehicle, a device for positioning a flight of an unmanned aerial vehicle, a laser radar device, an unmanned aerial vehicle system, a controller, and a computer readable storage medium according to the present invention will be provided with reference to the accompanying drawings and the preferred embodiments.
The invention provides a flight positioning method of an unmanned aerial vehicle, which is realized based on an independently arranged laser radar.
In an embodiment, this lidar sets up on ground to avoid setting up lidar and increase unmanned aerial vehicle's load on unmanned aerial vehicle, reduce unmanned aerial vehicle's duration. Preferably, the laser radar is arranged beside the takeoff platform of the unmanned aerial vehicle.
Further, still be provided with the cloud platform on this laser radar to adjust laser radar's scanning angle through this cloud platform. The scanning range of the laser radar can be further improved through the arrangement of the holder.
As shown in fig. 1, the method for positioning a flight of an unmanned aerial vehicle includes:
step S10, acquiring a first position of the drone in real time, where the first position is based on positioning data of the drone obtained by the satellite positioning system.
Specifically, during the initial flight of the drone, positioning is performed by a satellite positioning system, such as a GPS system or a beidou satellite positioning system.
The method comprises the steps of acquiring positioning data (namely a first position) of the unmanned aerial vehicle in the flight process based on acquisition of a satellite positioning system in real time, wherein the positioning data are space coordinates of the unmanned aerial vehicle.
And step S20, controlling the main optical axis direction of the laser radar according to the first position so as to acquire the second position of the unmanned aerial vehicle in real time through the laser radar positioning device.
Specifically, after the first position of the unmanned aerial vehicle obtained through the satellite positioning system is obtained, the space coordinate corresponding to the second position is converted to determine the direction of the main optical axis of the laser radar. Through cloud platform control laser radar's scanning angle for laser radar's axis shines at unmanned aerial vehicle's organism. And the laser radar determines the second position of the unmanned aerial vehicle through calculation.
In one embodiment, step S20 includes:
and step S201, calculating the normal offset direction of the laser radar according to the first position, and controlling the normal direction of the laser radar to point to the unmanned aerial vehicle based on the normal offset direction.
Specifically, after the first position of the unmanned aerial vehicle is obtained, the normal offset direction of the laser radar is obtained through geometric relation calculation, namely, the angle of the laser radar needing to rotate is calculated. And then control laser radar's turned angle through the cloud platform according to this normal direction skew direction for laser radar's axis shines on unmanned aerial vehicle's the organism.
Step S202, point cloud data collected by the laser radar is obtained in real time, and point cloud frame data is established.
Specifically, after receiving reflected light reflected back by the unmanned aerial vehicle, the laser radar can form point cloud data of the unmanned aerial vehicle. Because the axis of the laser radar always irradiates on the unmanned aerial vehicle body, point cloud frame data of the unmanned aerial vehicle is established through a sliding window algorithm along with the time.
In a specific embodiment, the point cloud data of the laser radar are acquired at intervals of 0.2 second in sequence, and then the point cloud frame data of the unmanned aerial vehicle is established by the acquired point cloud frame data based on a sliding window algorithm.
And S203, calculating a deviation vector of the laser radar according to the wheelbase of the unmanned aerial vehicle and the point cloud frame data.
Specifically, unmanned aerial vehicle's wheel base means the length of unmanned aerial vehicle's diagonal, can determine unmanned aerial vehicle's size through this wheel base, and then determines the scope of this unmanned aerial vehicle in some cloud frame data.
After the range of the unmanned aerial vehicle in the point cloud frame data is determined, the deviation vector of the laser radar is calculated by combining the irradiation position of the main optical axis of the laser radar. The deviation vector refers to a deviation value between an irradiation point of a main optical axis of the laser radar and a position of the drone in the point cloud frame data.
In one embodiment, step S203 includes:
and S2031, projecting in the main optical axis direction of the laser radar according to the wheelbase of the unmanned aerial vehicle to obtain unmanned aerial vehicle projection.
Specifically, unmanned aerial vehicle's wheel base indicates that unmanned aerial vehicle's wheel base indicates the length of unmanned aerial vehicle's diagonal, can determine unmanned aerial vehicle's size through this wheel base. The method comprises the steps of projecting in point cloud frame data of the unmanned aerial vehicle along the direction of a main optical axis of the laser radar according to the wheelbase of the unmanned aerial vehicle, and then determining the range of the unmanned aerial vehicle in the point cloud frame data.
And S2032, deleting the point cloud frame data outside the unmanned aerial vehicle projection range in the point cloud frame data to obtain target point cloud frame data.
Specifically, after the range of the projection point cloud frame data of the unmanned aerial vehicle is determined, point cloud data outside the projection range of the unmanned aerial vehicle is deleted, and only the point cloud data of the unmanned aerial vehicle is reserved as target point cloud frame data. The deleted point cloud data includes environmental point cloud data and false point cloud data. By deleting the point cloud data, the interference of the environmental clutter on the calculation of the laser radar deviation vector can be effectively avoided, meanwhile, the data amount in the calculation process can be reduced, and the calculation efficiency is improved.
Step S2033, calculating a deviation vector according to the direction of the center of the target point cloud frame data and the main optical axis of the laser radar.
Specifically, a circular area with the diameter equal to the wheel base is formed by projecting the point cloud frame data according to the wheel base of the unmanned aerial vehicle, and the point cloud frame data in the area is the target point cloud frame data. Of course, the area forming the circle is only one embodiment of the present invention and is not used to limit the protection scope of the present invention, and the area may be a rectangle, a polygon, an ellipse, or the like.
The method adopts mean-shift algorithm to determine the deviation between the position of the unmanned aerial vehicle in the point cloud frame data and the main optical axis of the laser radar, and the deviation is the deviation vector of the laser radar.
Specifically, taking the projection area of the unmanned aerial vehicle as a circular area as an example, that is, the target point cloud frame data is a circular area. And at the moment, the deviation between the center of the circle of the circular area and the main optical axis irradiation point of the laser radar is the deviation vector of the laser radar.
And S204, adjusting the deflection angle of the laser radar according to the deviation vector so as to enable the main optical axis of the laser radar to point to the unmanned aerial vehicle.
Specifically, after determining laser radar's deviation vector, the cloud platform adjusts laser radar's deflection angle according to this laser radar's deviation vector, and then makes laser radar's the directional unmanned aerial vehicle of principal optical axis.
And S205, calculating a second position of the unmanned aerial vehicle according to the deflection angle of the laser radar.
Specifically, after determining laser radar's deflection angle, can calculate the current second position of unmanned aerial vehicle through this deflection angle and the distance between laser radar and the unmanned aerial vehicle.
And step S30, when the positioning data of the satellite positioning system is abnormal, determining the second position as the current position of the unmanned aerial vehicle.
In an embodiment, when there is a deviation between the first position of the drone obtained by the satellite positioning system and the second position of the drone obtained by the laser radar, it may be determined that the satellite positioning system is abnormally positioned.
Of course, the positioning abnormality of the satellite positioning system is determined when the deviation value between the first position and the second position reaches a certain amount, and the setting may be performed according to actual requirements, which is not limited in the present invention.
In another embodiment, when the positioning data of the satellite positioning system on the drone cannot be acquired, it may also be determined that the satellite positioning system is abnormal in positioning.
When the positioning abnormality of the satellite positioning system is judged, in order to ensure the flight safety of the unmanned aerial vehicle, the second position of the unmanned aerial vehicle acquired based on the laser radar is determined as the current position of the unmanned aerial vehicle. And then according to this second position control unmanned aerial vehicle's flight and descending.
In an embodiment, the flight positioning method of the drone, as shown in fig. 2, further includes:
in step S40, the plurality of second positions within the preset historical time are used as the historical positions of the drone.
Specifically, after determining that the positioning of the satellite positioning system is abnormal and taking the second position of the unmanned aerial vehicle acquired by the laser radar as the current position of the unmanned aerial vehicle, a plurality of second positions within preset historical time are recorded. The preset historical time may be set according to specific situations, and the present invention is not limited thereto.
And taking the recorded second positions of the plurality of unmanned aerial vehicles as the historical positions of the unmanned aerial vehicles.
And step S50, calculating the predicted position of the unmanned aerial vehicle at the next moment according to the historical position.
Specifically, after the historical positions of a plurality of unmanned aerial vehicles are obtained, the flight direction and the flight speed of the current unmanned aerial vehicle can be determined according to the historical positions. And calculating the position, namely the predicted position, to be reached by the unmanned aerial vehicle at the next moment according to the current flight direction and the flight speed of the unmanned aerial vehicle.
And step S60, controlling the laser radar to deflect according to the predicted position so that the main optical axis of the laser radar points to the predicted position.
Specifically, after calculating unmanned aerial vehicle next estimated position constantly, determine the offset of two positions according to unmanned aerial vehicle current time's position and next estimated position constantly, and then by cloud platform according to this offset control laser radar's deflection, then laser radar's the main optical axis shine all the time on unmanned aerial vehicle's organism.
According to the invention, the main optical axis of the laser radar is always aligned to the unmanned aerial vehicle by pre-judging the position of the unmanned aerial vehicle in advance, so that the iteration times of laser radar offset are effectively reduced, the operation efficiency is improved, the operation amount of equipment is reduced, and the time consumption for determining the second position of the unmanned aerial vehicle is reduced.
A flight positioning device of an unmanned aerial vehicle according to another embodiment of the present invention is based on a laser radar that is separately provided, as shown in fig. 3, the device including: a position acquisition module 10, a radar control module 20, and a position determination module 30.
The position acquisition module is configured to acquire a first position of the unmanned aerial vehicle in real time, wherein the first position is positioning data of the unmanned aerial vehicle obtained based on a satellite positioning system; the radar control module is configured to control the main optical axis of the laser radar to point according to the first position so as to acquire a second position of the unmanned aerial vehicle in real time through the laser radar; the position determination module is configured to determine the second position as a current position of the drone when the positioning data of the satellite positioning system is abnormal.
Specifically, during the initial flight of the drone, positioning is performed by a satellite positioning system, such as a GPS system or a beidou satellite positioning system.
The position acquisition module 10 acquires, in real time, positioning data (i.e., a first position) of the unmanned aerial vehicle during flight based on the acquisition of the satellite positioning system, where the positioning data is a spatial coordinate of the unmanned aerial vehicle.
After the first position of the unmanned aerial vehicle obtained through the satellite positioning system is obtained, the space coordinate corresponding to the second position is converted to determine the direction of the main optical axis of the laser radar. Radar control module 20 controls laser radar's scanning angle through the cloud platform for laser radar's axis shines at unmanned aerial vehicle's organism. And the laser radar determines the second position of the unmanned aerial vehicle through calculation.
In one embodiment, the radar control module 20 includes: an offset direction calculation sub-module 201, a point cloud establishment sub-module 202, an offset vector calculation sub-module 203, a radar adjustment sub-module 204, and a position calculation sub-module 205.
Wherein the offset direction calculation sub-module 201 is configured to calculate a normal offset direction of the lidar according to the first position, and to control a normal direction of the lidar to point at the drone based on the normal offset direction; the point cloud establishing sub-module 202 is configured to obtain point cloud data acquired by the laser radar in real time and establish point cloud frame data; the deviation vector calculation sub-module 203 is configured to calculate a deviation vector of the laser radar according to the wheelbase of the unmanned aerial vehicle and the point cloud frame data; the radar adjustment sub-module 204 is configured to adjust a deflection angle of the lidar in accordance with the deviation vector to direct a primary optical axis of the lidar towards the drone; the position calculation sub-module 205 is configured to calculate the second position of the drone from the angle of deflection of the lidar.
Specifically, after the position obtaining module 10 obtains the first position of the unmanned aerial vehicle, the offset direction calculating submodule 201 obtains the normal offset direction of the laser radar through geometric relationship calculation, that is, calculates the angle that the laser radar needs to rotate. And then control laser radar's turned angle according to this normal direction skew direction through the cloud platform for laser radar's axis shines on unmanned aerial vehicle's the organism.
The point cloud establishing sub-module 202 forms point cloud data of the unmanned aerial vehicle after the laser radar receives reflected light reflected by the unmanned aerial vehicle. Because the axis of the laser radar always irradiates on the unmanned aerial vehicle body, point cloud frame data of the unmanned aerial vehicle is established through a sliding window algorithm along with the time.
In a specific embodiment, the point cloud data of the laser radar are acquired at intervals of 0.2 second in sequence, and then the point cloud frame data of the unmanned aerial vehicle is established by the acquired point cloud frame data based on a sliding window algorithm.
Unmanned aerial vehicle's wheel base refers to the length of unmanned aerial vehicle's diagonal, can determine unmanned aerial vehicle's size through this wheel base, and then determines the scope of this unmanned aerial vehicle in some cloud frame data.
After determining the range of the unmanned aerial vehicle in the point cloud frame data, the deviation vector calculation submodule 203 calculates the deviation vector of the laser radar by combining the irradiation position of the main optical axis of the laser radar. The deviation vector refers to a deviation value between an irradiation point of a main optical axis of the laser radar and a position of the drone in the point cloud frame data.
In one embodiment, the deviation vector calculation operator module 203 includes: a projection unit 2031, a deletion unit 2032, and a calculation unit 2033.
The projection unit 2031 is configured to perform projection in the main optical axis direction of the laser radar according to the wheelbase of the unmanned aerial vehicle, so as to obtain unmanned aerial vehicle projection; the deleting unit 2032 is configured to delete the point cloud frame data outside the unmanned aerial vehicle projection range in the point cloud frame data to obtain target point cloud frame data; the calculation unit 2033 is configured to calculate the deviation vector by the orientation of the center of the target point cloud frame data and the main optical axis of the laser radar.
Specifically, unmanned aerial vehicle's wheel base indicates that unmanned aerial vehicle's wheel base indicates unmanned aerial vehicle's diagonal length, can determine unmanned aerial vehicle's size through this wheel base. Projection unit 2031 projects in the point cloud frame data of unmanned aerial vehicle along the direction of laser radar's primary optical axis according to unmanned aerial vehicle's wheel base, and then determines the scope of unmanned aerial vehicle in the point cloud frame data.
After determining the range of the projection point cloud frame data of the unmanned aerial vehicle, the deleting unit 2032 deletes the point cloud data outside the projection range of the unmanned aerial vehicle, and only retains the point cloud data of the unmanned aerial vehicle as the target point cloud frame data. The deleted point cloud data includes environmental point cloud data and false point cloud data. By deleting the point cloud data, the interference of the environmental clutter on the calculation of the laser radar deviation vector can be effectively avoided, meanwhile, the data amount in the calculation process can be reduced, and the calculation efficiency is improved.
And projecting point cloud frame data according to the wheelbase of the unmanned aerial vehicle, forming a circular area with the wheelbase as the diameter, wherein the point cloud frame data in the area is target point cloud frame data. Of course, the area forming the circle is only one embodiment of the present invention and is not used to limit the protection scope of the present invention, and the area may be a rectangle, a polygon, an ellipse, or the like.
The calculating unit 2033 determines the deviation between the position of the unmanned aerial vehicle in the point cloud frame data and the main optical axis of the laser radar by using a mean-shift algorithm, and the deviation is the deviation vector of the laser radar.
Specifically, taking the projection area of the unmanned aerial vehicle as a circular area as an example, that is, the target point cloud frame data is a circular area. And at the moment, the deviation between the center of the circle of the circular area and the main optical axis irradiation point of the laser radar is the deviation vector of the laser radar.
And after the radar adjusting submodule 204 determines the deviation vector of the laser radar, the control holder adjusts the deflection angle of the laser radar according to the deviation vector of the laser radar, and then the main optical axis of the laser radar points to the unmanned aerial vehicle.
After the deflection angle of the laser radar is determined, the position calculation submodule 205 may calculate the current second position of the drone according to the deflection angle and the distance between the laser radar and the drone.
When the positioning data of the satellite positioning system is abnormal, the position determination module 30 determines the second position as the current position of the unmanned aerial vehicle.
In an embodiment, when there is a deviation between the first position of the drone obtained by the satellite positioning system and the second position of the drone obtained by the laser radar, it may be determined that the satellite positioning system is abnormally positioned.
Of course, the satellite positioning system positioning abnormality is determined when the deviation value between the first position and the second position reaches a small value, and the determination may be performed according to actual requirements, which is not limited in the present invention.
In another embodiment, when the positioning data of the satellite positioning system to the drone cannot be acquired, it may also be determined that the positioning of the satellite positioning system is abnormal.
When the positioning abnormality of the satellite positioning system is judged, in order to ensure the flight safety of the unmanned aerial vehicle, the second position of the unmanned aerial vehicle acquired based on the laser radar is determined as the current position of the unmanned aerial vehicle. And then according to this second position control unmanned aerial vehicle's flight and descending.
In an embodiment, the flight positioning device of the drone, as shown in fig. 4, further includes: historical location module 40, location prediction module 50, and radar pointing module 60.
Wherein the historical location module 40 is configured to take a plurality of said second locations within a preset historical time as the historical location of said drone; the position prediction module 50 is configured to calculate a predicted position of the drone at a next time based on the historical positions; radar pointing module 60 is configured to control the lidar deflection in accordance with the predicted position such that a primary optical axis of the lidar points to the predicted position.
Specifically, the historical position module 40 may record a plurality of second positions within a preset historical time after determining that the positioning of the satellite positioning system is abnormal and taking the second position of the unmanned aerial vehicle acquired by the laser radar as the current position of the unmanned aerial vehicle. The preset historical time may be set according to specific situations, and the present invention is not limited thereto. And taking the recorded second positions of the plurality of unmanned aerial vehicles as the historical positions of the unmanned aerial vehicles.
After obtaining the historical positions of multiple drones, the position estimation module 50 may determine the flight direction and the flight speed of the current drone according to the multiple historical positions. And calculating the position, namely the predicted position, to be reached by the unmanned aerial vehicle at the next moment according to the current flight direction and the flight speed of the unmanned aerial vehicle.
Radar pointing module 60 determines the offset of two positions according to unmanned aerial vehicle current time's position and next moment's predicted position after calculating unmanned aerial vehicle next moment predicted position, and then by cloud platform according to this offset control laser radar's deflection, then laser radar's the primary optical axis shine all the time on unmanned aerial vehicle's organism.
According to the invention, the main optical axis of the laser radar is always aligned to the unmanned aerial vehicle by pre-judging the position of the unmanned aerial vehicle in advance, so that the iteration times of laser radar offset are effectively reduced, the operation efficiency is improved, the operation amount of equipment is reduced, and the time consumption for determining the second position of the unmanned aerial vehicle is reduced.
The laser radar device of another embodiment of the invention comprises a laser radar, a holder and the flight control device of the unmanned aerial vehicle of any one of the embodiments.
The holder is connected to the laser radar and controls the deflection angle of the laser radar. The arrangement of the holder realizes 360-degree scanning of the laser radar, and the scanning range of the laser radar is ensured.
Unmanned aerial vehicle's flight control connects in laser radar, cloud platform and unmanned aerial vehicle ground satellite station. This unmanned aerial vehicle's flight control device is used for unmanned aerial vehicle's location, control cloud platform and communicates with unmanned aerial vehicle ground satellite station.
The unmanned aerial vehicle system of another embodiment of the invention comprises an unmanned aerial vehicle, a take-off platform, an unmanned aerial vehicle ground station and the laser radar device of the embodiment.
A controller according to another embodiment of the present invention includes a memory and a processor, the memory stores a computer program, and the program when executed by the processor is capable of implementing the steps of the method for positioning a flight of a drone according to any one of the embodiments.
A computer-readable storage medium of a further embodiment of the invention stores a computer program which, when executed by a computer or processor, implements the steps of the method of flight positioning of a drone of any embodiment.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (12)

1. A flight positioning method of an unmanned aerial vehicle is characterized in that based on an independently arranged laser radar, the method comprises the following steps:
acquiring a first position of the unmanned aerial vehicle in real time, wherein the first position is positioning data of the unmanned aerial vehicle obtained based on a satellite positioning system;
controlling the main optical axis of the laser radar to point according to the first position so as to obtain a second position of the unmanned aerial vehicle in real time through the laser radar;
and when the positioning data of the satellite positioning system is abnormal, determining the second position as the current position of the unmanned aerial vehicle.
2. The method according to claim 1, wherein the step of controlling a main optical axis direction of the lidar according to the first position to obtain a second position of the drone in real time through the lidar includes:
calculating a normal offset direction of the laser radar according to the first position, and controlling the normal direction of the laser radar to point to the unmanned aerial vehicle based on the normal offset direction;
acquiring point cloud data acquired by the laser radar in real time, and establishing point cloud frame data;
calculating a deviation vector of the laser radar according to the wheelbase of the unmanned aerial vehicle and the point cloud frame data;
adjusting a deflection angle of the laser radar according to the deviation vector so as to point a main optical axis of the laser radar to the unmanned aerial vehicle;
calculating the second position of the drone according to the deflection angle of the lidar.
3. The method of claim 2, wherein the step of calculating the deviation vector of the lidar according to the wheelbase of the drone and the point cloud frame data comprises:
projecting in the direction of a main optical axis of the laser radar according to the wheelbase of the unmanned aerial vehicle to obtain unmanned aerial vehicle projection;
deleting the point cloud frame data outside the unmanned aerial vehicle projection range in the point cloud frame data to obtain target point cloud frame data;
and calculating the deviation vector through the pointing direction of the center of the target point cloud frame data and the main optical axis of the laser radar.
4. A method of flight positioning of a drone according to any one of claims 1-3, the method further comprising:
taking a plurality of second positions within a preset historical time as historical positions of the unmanned aerial vehicle;
calculating the predicted position of the unmanned aerial vehicle at the next moment according to the historical position;
and controlling the laser radar to deflect according to the predicted position so that the main optical axis of the laser radar points to the predicted position.
5. The utility model provides an unmanned aerial vehicle's flight positioner, its characterized in that, based on the lidar of independent setting, the device includes:
the position acquisition module is configured to acquire a first position of the unmanned aerial vehicle in real time, wherein the first position is positioning data of the unmanned aerial vehicle obtained based on a satellite positioning system;
the radar control module is configured to control the main optical axis of the laser radar to point according to the first position so as to obtain a second position of the unmanned aerial vehicle in real time through the laser radar;
a position determination module configured to determine the second position as a current position of the drone when the positioning data of the satellite positioning system is abnormal.
6. The drone flight positioning device of claim 5, wherein the radar control module includes:
an offset direction calculation submodule configured to calculate a normal offset direction of the lidar according to the first position, and control a normal direction of the lidar to point to the drone based on the normal offset direction;
the point cloud establishing sub-module is configured to acquire point cloud data acquired by the laser radar in real time and establish point cloud frame data;
an offset vector calculation sub-module configured to calculate an offset vector of the lidar according to the wheelbase of the drone and the point cloud frame data;
a radar adjustment sub-module configured to adjust a deflection angle of the lidar in accordance with the deviation vector to direct a primary optical axis of the lidar towards the drone;
a position calculation submodule configured to calculate the second position of the drone from the angle of deflection of the lidar.
7. The drone flight positioning device of claim 6, wherein the deviation vector calculation submodule includes:
the projection unit is configured to project in the main optical axis direction of the laser radar according to the wheelbase of the unmanned aerial vehicle so as to obtain unmanned aerial vehicle projection;
the deleting unit is configured to delete the point cloud frame data outside the unmanned aerial vehicle projection range in the point cloud frame data to obtain target point cloud frame data;
a calculation unit configured to calculate the deviation vector by a pointing direction of a center of the target point cloud frame data and a main optical axis of the laser radar.
8. A flight positioning device for unmanned aerial vehicles according to any of claims 5-7, wherein the device further comprises:
a historical location module configured to take a plurality of the second locations within a preset historical time as historical locations of the drone;
the position prediction module is configured to calculate a predicted position of the unmanned aerial vehicle at the next moment according to the historical position;
a radar pointing module configured to control the lidar to deflect according to the expected position such that a primary optical axis of the lidar points to the expected position.
9. A lidar apparatus, comprising: a lidar, a head, and a flight positioning device of the drone of any one of claims 5-8;
the holder is connected to the laser radar and controls the deflection angle of the laser radar;
and the flight control device of the unmanned aerial vehicle is connected with the laser radar, the holder and the unmanned aerial vehicle ground station.
10. An unmanned aerial vehicle system, comprising: an unmanned aerial vehicle, a takeoff platform, an unmanned aerial vehicle ground station, and the lidar apparatus of claim 9.
11. A controller comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, is capable of carrying out the steps of the method of any one of claims 1 to 4.
12. A computer-readable storage medium for storing a computer program which, when executed by a computer or processor, implements the steps of the method of any one of claims 1 to 4.
CN202210525133.5A 2022-05-14 2022-05-14 Positioning method and device, radar device, unmanned aerial vehicle system, controller and medium Pending CN114910918A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115079113A (en) * 2022-08-22 2022-09-20 国家海洋技术中心 Ground wave radar directional diagram measuring method and system based on unmanned ship
CN117849818A (en) * 2024-03-08 2024-04-09 山西万鼎空间数字有限公司 Unmanned aerial vehicle positioning method and device based on laser radar and electronic equipment
CN117849818B (en) * 2024-03-08 2024-07-09 山西万鼎空间数字股份有限公司 Unmanned aerial vehicle positioning method and device based on laser radar and electronic equipment

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115079113A (en) * 2022-08-22 2022-09-20 国家海洋技术中心 Ground wave radar directional diagram measuring method and system based on unmanned ship
CN115079113B (en) * 2022-08-22 2022-12-13 国家海洋技术中心 Method and system for measuring ground wave radar directional diagram based on unmanned ship
CN117849818A (en) * 2024-03-08 2024-04-09 山西万鼎空间数字有限公司 Unmanned aerial vehicle positioning method and device based on laser radar and electronic equipment
CN117849818B (en) * 2024-03-08 2024-07-09 山西万鼎空间数字股份有限公司 Unmanned aerial vehicle positioning method and device based on laser radar and electronic equipment

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