CN115328178A - Method and system for accurately landing unmanned aerial vehicle in complex environment - Google Patents
Method and system for accurately landing unmanned aerial vehicle in complex environment Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle accurate landing method and system in a complex environment, wherein the system comprises: the unmanned aerial vehicle guidance system comprises a first ground beacon, a second ground beacon, an inertial navigation module, a satellite positioning module, a radio guidance module, a visual guidance module and an airborne computer, wherein the airborne computer is used for acquiring current flight data of the unmanned aerial vehicle, receiving and processing the data of each positioning module so as to judge three height stages where the unmanned aerial vehicle is guided to land, and if the unmanned aerial vehicle is in a high-altitude stage, the satellite positioning module is used for carrying out real-time correction; if in the hollow stage, periodically correcting the landing route by utilizing the radio guide module; and if the unmanned aerial vehicle is in the low-altitude stage, controlling to close the radio guide module, and correcting the landing route of the unmanned aerial vehicle by using the visual navigation module.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle navigation, in particular to an unmanned aerial vehicle accurate landing method in a complex environment and an unmanned aerial vehicle guided landing system in the complex environment.
Background
The Unmanned aerial vehicle (Unmanned aerial vehicle) has the characteristics of light weight, small casualty risk, good maneuverability, simple cabin design and the like, and has a gradually emerging head angle in the civil field besides the application prospect in military affairs. With the development of unmanned aerial vehicles in recent years, especially with the great diversity of applications in various fields, unmanned aerial vehicle technologies in various countries have all been rapidly developed. For example, with the revolutionary technical innovation of the artificial intelligence technology in each field, the strong association of the unmanned aerial vehicle and the artificial intelligence enables the unmanned aerial vehicle to have further intelligent development, so that the unmanned aerial vehicle can acquire important information of the ground or low altitude more conveniently, such as information of images, terrains, moving objects and the like, and can be applied to various scenes. For example, in earthquake relief, the system can be used for conveying important goods or rescue tools, or searching wounded persons, or providing powerful reference information for preparing corresponding rescue measures.
After the unmanned aerial vehicle executes a task or finishes the task, the unmanned aerial vehicle needs to land to a specified destination, and therefore landing navigation is of great importance in unmanned aerial vehicle navigation. However, the landing of the conventional unmanned aerial vehicle depends on an inertial navigation system, a satellite positioning system, a single technology for positioning and landing, or a manual remote control method is directly adopted for landing, but due to the fact that the inertial navigation has errors, the satellite positioning system has possible interfered actions, and along with the improvement of the landing precision and reliability requirements of people on the unmanned aerial vehicle, the single navigation system is difficult to meet the requirements.
Based on this, someone proposes the concept of multimode navigation to realize the autonomous accurate landing of unmanned aerial vehicle. For example, chinese patent application CN201710809914.6 proposes a landing guidance system and method for an unmanned aerial vehicle with multimode navigation, which sets a parking space, uses parking as a reference point, sets a cooperation lamp array near the parking space, and combines radio direction finding, visual guidance, satellite positioning and data fusion to guide the unmanned aerial vehicle to automatically land at a designated parking space, thereby improving the precision and reliability of autonomous landing of the unmanned aerial vehicle. This approach is aimed at geographical conditions that are very good, to enable the setting of a well-defined stand or platform, so that a stand reference point can be set in the stand, and a cooperating array of lights is set nearby to guide the drone to land, e.g. a very flat lawn, or plain; on the other hand, the stand and the stand reference line are preset, and therefore, the precision requirement for landing is very high in this way, for example, the unmanned aerial vehicle must be stopped near or in the stand reference point.
However, in some complex geographic environments, such as a mountain canyon as a terrain or a post-disaster scene in a mountain area, it is difficult to preset such a stand, not to say, a stand reference line is prepared in advance, and a cooperation lamp array is arranged near the stand, and in such an environment, the setting is not practical, even if the stand is constructed, the time and the labor are consumed, and for a post-disaster rescue scene with a complex geographic environment such as a mountain area, resources and time are precious, and even the time is lost.
Therefore, it can be known that, in the case that the environment around the landing point is relatively complex, some explicit guidance such as an explicit airplane parking space and a cooperative light array cannot be set at the landing point in advance, and in such an environment, generally, the closer to the landing point, there is no signal (for example, no satellite signal, and the wireless signal is very poor) or there are other interference signals that may attract the unmanned aerial vehicle to other places, so how to guide the unmanned aerial vehicle to land in such a complex environment is a problem that needs to be solved at present.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle accurate method and system in a complex environment, which partially solve or alleviate the defects in the prior art and can guide the unmanned aerial vehicle to land in the complex environment.
In order to solve the above mentioned technical problems, the present invention specifically adopts the following technical solutions:
in a first aspect of the present invention, there is provided an unmanned aerial vehicle guided landing system in a complex environment, including: a first ground beacon for transmitting a radio beacon signal; a second ground beacon for transmitting an optical beacon signal; the inertial navigation module is used for guiding the unmanned aerial vehicle to land towards a destination in the whole course; the satellite positioning module is used for positioning the unmanned aerial vehicle in real time; a radio guidance module for receiving a radio beacon signal transmitted by the first terrestrial beacon; the visual guide module is used for receiving an optical beacon signal emitted by the second ground beacon or carrying out image matching based on a pre-stored destination image so as to guide landing; the airborne computer is used for acquiring current flight data of the unmanned aerial vehicle, judging three height stages where the unmanned aerial vehicle is guided to land, and judging the high-altitude stage if the current flight height is larger than a first preset height threshold value; judging that the current flying height is less than or equal to a first preset height threshold value and greater than a second preset height threshold value to be a hollow stage; if the current flying height is less than or equal to a second preset height threshold value, determining that the current flying height is in a third low altitude stage; when the unmanned aerial vehicle is judged to be guided to land at a high altitude stage, the landing route guided by the inertial navigation module is corrected in real time according to the real-time positioning data of the satellite positioning module and mainly according to the navigation data of the inertial navigation module; when the unmanned aerial vehicle is judged to be in the hollow stage, starting the radio guide module, and periodically acquiring the radio beacon signal received by the radio guide module so as to periodically correct the landing route of the unmanned aerial vehicle according to the radio beacon signal; and if the unmanned aerial vehicle is judged to be in the low-altitude stage, controlling to close the radio guide module, starting the visual navigation module to receive the optical beacon signal, and correcting the landing route of the unmanned aerial vehicle according to the optical beacon signal or the pre-stored destination image matching.
The guiding landing system acquires the current flight data of the unmanned aerial vehicle through the onboard computer, receives the data fed back by each positioning module to process the data, thereby judging whether the real-time positioning data of each module is correct or not and further giving a corresponding unmanned aerial vehicle control command to the flight controller. Specifically, judge the three high stage at unmanned aerial vehicle guide landing place, for example, when unmanned aerial vehicle guide landing was in high altitude stage, unmanned aerial vehicle landing guide data adopted and used inertial navigation module data as the owner, according to satellite positioning module real-time location data is right the landing course line under the inertial navigation module guide corrects in real time, because unmanned aerial vehicle is in high altitude stage landing, consequently, positioning accuracy error does not influence unmanned aerial vehicle and descends, and satellite positioning data loses and does not influence unmanned aerial vehicle and descend. When the unmanned aerial vehicle is in the hollow phase, the satellite positioning data may be lost due to the influence of interference and the like, so that the radio guidance module is started simultaneously in the hollow phase on the premise of not closing the satellite positioning module, and the radio beacon signal received by the radio guidance module is periodically acquired, so that the landing route of the unmanned aerial vehicle is periodically corrected according to the radio beacon signal. When the unmanned aerial vehicle is in a low-altitude stage, the radio guide module is controlled to be closed, the visual navigation module is started to receive the optical beacon signal, so that the landing route of the unmanned aerial vehicle is corrected according to the optical beacon signal, or image matching is performed according to the pre-stored image of the destination/landing point and the image currently acquired by the current visual navigation module, and therefore the landing route of the unmanned aerial vehicle is corrected.
In some embodiments of the present invention, the onboard computer is specifically configured to perform data processing on the optical beacon signal, generate a fifth control instruction, and send the fifth control instruction to the flight controller of the drone so as to control the drone to land under the auxiliary guidance of the visual guidance module, where the fifth control instruction includes a relative position between the second ground beacon and the drone.
In some embodiments of the present invention, the onboard computer is specifically configured to determine whether the unmanned aerial vehicle deviates from a preset landing course according to the strength of the radio beacon signal, and if so, generate a third control instruction and send the third control instruction to the flight controller of the unmanned aerial vehicle to control the unmanned aerial vehicle to stop landing and correct the landing course, where the third control instruction includes a relative position between the first ground beacon and the unmanned aerial vehicle.
In some embodiments of the present invention, the on-board computer is a light-weight on-board computer.
In some embodiments of the present invention, when the on-board computer determines that the current flying height is less than or equal to the first preset height threshold and greater than the second preset height threshold, the on-board computer is further configured to control to start the radio guidance module and simultaneously control to start the visual navigation module to receive the optical beacon signal, so as to correct the landing route of the unmanned aerial vehicle according to the optical beacon signal, or perform image matching according to the currently acquired terrain image and a pre-stored destination image, so as to correct the landing route of the unmanned aerial vehicle.
In a second aspect of the present invention, based on the guided landing system, there is provided a method for accurately landing an unmanned aerial vehicle in a complex environment, including the steps of:
acquiring current flight data (including current flight height) of the unmanned aerial vehicle in real time through an onboard computer, and judging whether the current flight height is smaller than or equal to a first preset height threshold value and larger than a second preset height threshold value;
if the current flight altitude is larger than the first preset altitude threshold value, the on-board computer judges that the unmanned aerial vehicle is currently in an overhead stage, and acquires real-time positioning data of a satellite positioning module in real time so as to correct a landing route guided by the inertial navigation module in real time according to the real-time positioning data;
if the current flight height is smaller than or equal to the first preset height threshold value and larger than the second preset threshold value, the airborne computer judges that the unmanned aerial vehicle is currently in a hollow stage, starts the radio guidance module to receive a radio beacon signal transmitted by a first ground beacon, and periodically corrects the landing route according to the radio beacon signal;
if the current flying height is smaller than or equal to the second preset height threshold value, the airborne computer judges that the unmanned aerial vehicle is in a low altitude stage at present, the satellite positioning module and the radio guide module are controlled to be closed, the visual guide module is started to receive an optical beacon signal emitted by a second ground beacon, and the landing route of the unmanned aerial vehicle under the guidance of the inertial navigation module is corrected according to the optical beacon signal; or carrying out image matching according to the currently acquired terrain image and a prestored destination image so as to correct the landing route of the unmanned aerial vehicle.
In some embodiments of the present invention, the step of correcting the landing path according to the optical beacon signal specifically includes the steps of: the airborne computer is right optical beacon signal carries out data processing, generates fifth control command to send unmanned aerial vehicle's flight control ware, in order to control unmanned aerial vehicle and be in descend under the supplementary guide of vision guide module, wherein, fifth control command includes relative position between second ground beacon and the unmanned aerial vehicle.
In some embodiments of the present invention, the step of correcting the landing route of the drone according to the radio beacon signal specifically includes the steps of: the airborne computer judges whether the unmanned aerial vehicle deviates from the landing course currently according to the strength of the radio beacon signal, and if the unmanned aerial vehicle deviates from the landing course currently, the airborne computer generates and sends a third control instruction to the unmanned aerial vehicle so as to control the unmanned aerial vehicle to stop landing and correct the course; wherein the third control instruction comprises a relative position between the first ground beacon and a drone; if not deviate, airborne computer control unmanned aerial vehicle continues to descend under the guidance of inertial navigation module, and works as unmanned aerial vehicle descends to when the second presets the height threshold value, start visual guide module to supplementary guide unmanned aerial vehicle descends to the destination.
In some embodiments of the present invention, when the onboard computer determines that the current flying height is less than or equal to the first preset height threshold and greater than the second preset threshold, and activates the radio guidance module, the visual guidance module is activated to assist in guiding the drone to land to a destination.
In a third aspect of the present invention, an electronic device for guiding a drone to land in a complex environment is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and is characterized in that the processor implements the steps of the above method when executing the program.
Has the advantages that: 1) In the application, different modules are utilized to conduct guidance or auxiliary guidance in stages, for example, when an unmanned aerial vehicle is in a high altitude stage of landing, since satellite signals cannot be interfered, the flight course of the unmanned aerial vehicle is corrected in real time through positioning data of a satellite positioning module, when the unmanned aerial vehicle is in a hollow stage of landing, radio signals can be received, and therefore, when the unmanned aerial vehicle is corrected in real time through the satellite positioning module, the landing course of the unmanned aerial vehicle is periodically corrected through radio signals received by the radio guiding module, errors generated when only an inertial navigation module is adopted are avoided to a certain extent, and the unmanned aerial vehicle is ensured not to deviate from a set landing course through real-time course correction and periodic course correction, and when the unmanned aerial vehicle is in a low altitude stage in the landing process, namely, the flight height of the unmanned aerial vehicle descends to a second flight course preset height threshold value, the satellite positioning module is influenced by the geographic environment, is very weak, even no signals exist, and the radio guiding module is easy to be interfered or misguided, so that the unmanned aerial vehicle does not deviate, the satellite positioning module and the landing guiding module and the visual guiding module are directly adopted to conduct inertial guidance, and the auxiliary guidance under the complicated navigation reliability is improved. And because the auxiliary guidance is already carried out according to the visual guidance module when the low-altitude stage is entered, and the low-altitude stage is only hundreds of meters in height generally, the landing can be carried out under the guidance of the inertial navigation module even if the vision is disturbed by sudden heavy fog, heavy rain and the like after the low-altitude stage is entered.
2) In the prior art, a camera is added on an unmanned aerial vehicle to acquire an image, and then the image is guided according to the image data, or the unmanned aerial vehicle is guided by combining other data with the image data to fly or land, however, in some special application scenes, such as disaster relief areas with harsh environments, the unmanned aerial vehicle is required to carry materials and the like, so that the self weight of the unmanned aerial vehicle cannot be too heavy, however, the unmanned aerial vehicle is required to carry a high-performance onboard computer because of the need of image data processing, even the image data is combined with other data, and the high-performance onboard computer is inevitably required to have more arithmetic units than a common onboard computer, namely the self weight of the unmanned aerial vehicle is inevitably heavier than a common onboard computer, so that the weight of materials which the unmanned aerial vehicle can carry is limited.
3) Compared with the mode that the machine halt position and the cooperation lamp array are arranged at the falling point in advance in the prior art, the method does not need to accurately arrange guide facilities such as the machine halt position and the cooperation lamp array at the falling point in advance, avoids the problem that manpower and financial resources are consumed to construct guide devices such as the machine halt position at the stage of rescue after a disaster, and can also avoid safety accidents caused by sudden aftershocks or sudden situations such as landslide and the like in the construction process; and in different stages of landing, different guide modules are adopted to assist the inertial navigation module to guide, so that the situation that multimode data fusion calculation cannot be carried out and further cannot be continuously guided due to the fact that multimode data fusion calculation cannot be carried out due to the fact that the multimode data fusion calculation is located in a low altitude stage or is close to a landing point and is interfered or signals are lost when the multimode data fusion calculation is adopted in the whole process in the prior art is avoided, and the stability of guiding landing in a complex environment is guaranteed.
4) If adopt a large amount of image data to assist the guide to descend, perhaps carry out the fusion processing with other data with image data, this will consume a large amount of energy consumptions certainly to reduce unmanned aerial vehicle cruise time. In the application, each module is reasonably distributed at each stage of landing of the unmanned aerial vehicle (for example, when the flying height is greater than a first preset height threshold value, the satellite positioning module and the inertial navigation module are used for guiding, the flying height is less than the first preset height threshold value, but the flying height is greater than a second preset height threshold value, the satellite positioning module and the radio module are used for respectively carrying out real-time correction and periodic correction on a landing air line guided by the inertial navigation module, and when the flying height is less than or equal to the second preset height threshold value, the visual guide module is directly adopted for assisting the inertial navigation module for guiding), the overall energy consumption of the unmanned aerial vehicle is reduced, so that the unmanned aerial vehicle has longer cruising time, further more tasks or different types of tasks can be executed at one time, the working efficiency is improved, for example, a rescue task is carried out after goods and materials are thrown in, and the rescue efficiency is improved.
5) Compared with a mode that a satellite positioning module or a radio module is adopted in the whole process of landing of the unmanned aerial vehicle, however, for some complex environments, radio interference is more likely to occur when the unmanned aerial vehicle is closer to a destination, so that the unmanned aerial vehicle is misled; and this application, when unmanned aerial vehicle is close to the destination, also when flying height is less than or equal to the second and predetermines high threshold value, then adopt the vision guide module to assist inertial navigation module guide unmanned aerial vehicle, avoided radio interference and leaded to the condition that unmanned aerial vehicle missed the descending.
Drawings
Fig. 1 is a functional block diagram of a guided landing system of an unmanned aerial vehicle in a complex environment according to an exemplary embodiment of the present invention;
fig. 2 is a flowchart of a method for accurately landing an unmanned aerial vehicle in a complex environment according to an exemplary embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Herein, suffixes such as "module", "part", or "unit" used to indicate elements are used only for facilitating the description of the present invention, and have no particular meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.
Herein, the terms "upper", "lower", "inner", "outer", "front", "rear", "one end", "the other end", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Unless expressly stated or limited otherwise, the terms "mounted," "disposed," "connected," and the like are used broadly and encompass, for example, "connected," which can be fixedly connected, detachably connected, or integrally connected; they may be mechanically coupled, directly coupled, indirectly coupled through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Herein "and/or" includes any and all combinations of one or more of the associated listed items.
By "plurality" herein is meant two or more, i.e. it includes two, three, four, five, etc.
Embodiment 1 referring to fig. 1, a functional block diagram of a guided descent system according to an exemplary embodiment of the present invention, specifically, the guided descent system includes: the unmanned aerial vehicle comprises an onboard computer 11, an inertial navigation module 12, a satellite positioning module 13, a radio guidance module 14, a visual guidance module 15, and a first ground beacon 16 for transmitting a radio signal and a second ground beacon 17 for transmitting an optical signal, wherein the onboard computer 11 is electrically connected with a flight controller of the unmanned aerial vehicle, and is used for sending corresponding control instructions to the flight controller and receiving flight data, such as flight altitude, fed back by the flight controller; the inertial navigation module 12 is electrically connected to the onboard computer 11 and the flight controller, respectively, and is used for guiding the unmanned aerial vehicle to land to a destination through the flight controller; the satellite positioning module 13 is electrically connected with the onboard computer 11 and the flight controller and is used for positioning the unmanned aerial vehicle in real time; the radio guidance module 14 is electrically connected to the onboard computer 11 and is configured to receive radio signals transmitted by the first ground beacon 16; the visual guidance module 15 is electrically connected to the onboard computer 11 for receiving the optical signal emitted by the second ground beacon 17.
In some embodiments, the onboard computer 11 is configured to obtain flight data such as a current flight altitude of the unmanned aerial vehicle from the flight controller or the satellite positioning module, determine whether the current flight altitude is less than or equal to a first preset altitude threshold and greater than a second preset altitude threshold, and if the current flight altitude is greater than the first preset altitude threshold, send a first control command to the satellite positioning module 13 to control the satellite positioning module 13 to feed back real-time positioning data (e.g., real-time coordinates of the unmanned aerial vehicle), and correct a landing route guided by the inertial navigation module 12 in real time according to the real-time positioning data, that is, the satellite positioning module assists the inertial navigation module to guide the unmanned aerial vehicle to land to a destination.
Specifically, the onboard computer 11 generates a second control instruction representing real-time correction of the landing route according to the real-time positioning data, and sends the second control instruction to the flight controller, and the flight controller performs real-time correction on the flight route/flight trajectory of the unmanned aerial vehicle according to the second control instruction.
In some embodiments, when it is determined that the current flying height is less than or equal to the first preset height threshold and greater than the second preset height threshold, the onboard computer 11 is further configured to activate the radio guidance module 14, periodically acquire the radio beacon signal received by the radio guidance module 14 and transmitted by the first ground beacon 16, and periodically correct the heading of the unmanned aerial vehicle according to the radio beacon signal; specifically, the onboard computer 11 judges whether the unmanned aerial vehicle deviates from the landing course according to the radio signal, and if so, generates and sends a third control instruction to the flight controller to control the unmanned aerial vehicle to stop landing and correct the course of the unmanned aerial vehicle before landing.
Specifically, the relative position of the radio beacon (i.e., the first ground beacon) and the drone can be calculated according to the strength of the radio beacon signal received by the radio guidance module.
The method comprises the steps of establishing a three-dimensional coordinate system by taking an unmanned aerial vehicle as a coordinate origin, obtaining a radio beacon through radio guidance, namely, enabling an azimuth angle of a first ground beacon relative to the origin (namely, the unmanned aerial vehicle) to move and fly according to the azimuth angle, comparing whether the measured azimuth angle is consistent with that measured before and after the unmanned aerial vehicle flies every second if one second is taken as a control period, and correcting a flight route if an angle error exists.
In some embodiments, when it is determined that the current flying height is less than or equal to the second preset height threshold, the on-board computer 11 sends a fourth control command to the visual guidance module 15 to start the visual navigation module 15 to assist the inertial navigation module to guide the drone to land to the destination; specifically, the onboard computer 11 obtains the optical signal emitted by the second ground beacon received by the visual navigation module 15, performs data processing according to the optical information to obtain a fifth control instruction, and sends the fifth control instruction to the flight controller to control the unmanned aerial vehicle to land to the destination.
In some embodiments, the beacon location need only know the distance and azimuth, and relative position, from the drop point, and need not be located near the drop point.
In other embodiments, the onboard computer may also guide the unmanned aerial vehicle to fly by terrain matching (for example, comparing a current terrain image within a range of the shooting device acquired by the visual navigation module with a destination image pre-stored by the onboard computer, specifically, the comparison may adopt an existing image matching method, such as an algorithm like image similarity), and control the flight controller according to a matching result, and integrate the satellite positioning module or the inertial navigation module to perform navigation, so as to improve the guidance landing accuracy.
In some embodiments, the on-board computer is a lightweight, low-performance on-board computer.
Embodiment 2 is based on the guidance landing system, and the present invention further provides an accurate landing method for an unmanned aerial vehicle in a complex environment, which is described in detail below with reference to specific embodiments and accompanying drawings.
Referring to fig. 2, it is a flowchart of a method for accurately landing an unmanned aerial vehicle in a complex environment according to an exemplary embodiment of the present invention, specifically, the method includes the steps of:
s201, acquiring the current flying height of the unmanned aerial vehicle in real time, judging whether the current flying height is smaller than or equal to a first preset height threshold value and larger than a second preset height threshold value, if so, executing a step S202, if smaller than or equal to the first preset height threshold value and larger than the second preset height threshold value, executing a step S203, and if smaller than or equal to the second preset height threshold value, executing a step S204.
In some embodiments, the on-board computer obtains the current flight altitude of the drone from a flight controller or satellite positioning module of the drone.
In some embodiments, the first preset altitude threshold and the second preset altitude threshold are set in advance according to the current geographical environment of the landing point.
Of course, in other embodiments, the propagation limit distance of the radio signal transmitted by the first ground beacon is the first preset height threshold, and the propagation limit distance of the optical beacon signal transmitted by the second ground beacon is the second preset height threshold.
For example, when the flight altitude exceeds the first preset altitude threshold, the radio guidance module on the drone will not receive the radio beacon signal transmitted by the first ground beacon, or the radio beacon signal is very weak; if the flying height is less than or equal to the first preset height threshold, the radio guidance module on the unmanned aerial vehicle receives a radio beacon signal sent by the first ground beacon. Of course, in the descending process of the drone, the step S203 may also be executed directly based on whether the radio beacon signal transmitted by the first ground beacon is received for the first time, that is, if the radio beacon signal (greater than or equal to the preset signal strength) transmitted by the first ground beacon is received for the first time.
For another example, when the flying height exceeds the second preset height threshold, the visual guidance module on the unmanned aerial vehicle will not receive the optical beacon signal (or the signal is very weak) transmitted by the second ground beacon, and if the flying height is less than or equal to the second preset height threshold, the visual guidance module on the unmanned aerial vehicle will receive the optical beacon signal transmitted by the second ground beacon. Of course, in the descending process of the drone, the step S204 may also be executed directly based on whether the optical beacon signal transmitted by the second ground beacon is received for the first time, that is, if the radio beacon signal (greater than or equal to the preset intensity) transmitted by the second ground beacon is received for the first time.
In case unmanned aerial vehicle gets into the stage of descending, the airborne computer begins to acquire unmanned aerial vehicle's flying height promptly in real time to compare current flying height and two predetermined altitude threshold values, and only when flying height is greater than and predetermines altitude threshold value, just start inertial navigation module and descend in order to guide unmanned aerial vehicle, and before unmanned aerial vehicle gets into the stage of descending, unmanned aerial vehicle can be by flying under any kind of guide mode among the prior art.
S202, the onboard computer acquires real-time positioning data of the satellite positioning module in real time, corrects a landing route of the unmanned aerial vehicle according to the positioning data in real time, and executes the step S201.
In some embodiments, if the current flying height of the unmanned aerial vehicle is greater than the first preset height threshold, it indicates that the unmanned aerial vehicle is still in a high altitude phase, and in this phase, since the unmanned aerial vehicle is not affected by the geographical environment of the landing point, the satellite positioning signal is very strong, so that the flight/landing route of the unmanned aerial vehicle guided by the inertial navigation module is corrected in real time according to the real-time positioning data of the satellite positioning module, for example, the real-time coordinates of the unmanned aerial vehicle.
In some embodiments, the on-board computer obtains real-time positioning data, such as coordinates of the unmanned aerial vehicle, generates a corresponding navigation command according to the real-time positioning data, sends the navigation command to the flight controller of the unmanned aerial vehicle, and the flight controller executes the navigation command and corrects a landing route in real time.
S203, the onboard computer periodically obtains the radio beacon signal transmitted by the first ground beacon received by the radio guidance module, corrects the landing heading of the drone according to the radio beacon signal, and executes step S201.
In some embodiments, if the current flying height of the drone is less than or equal to the first preset height threshold but greater than the second preset height threshold, it indicates that the drone is currently in a hollow phase, at this phase, the drone enters a communication range of the first ground beacon, that is, the radio guidance module can receive a radio beacon signal transmitted by the first ground beacon, so that the onboard computer starts the radio guidance module and periodically obtains the radio signal received by the radio guidance module, and then determines whether the drone deviates from the heading according to the radio beacon signal, if so, generates a fifth control instruction and sends the fifth control instruction to the flying controller to control the drone to stop landing and correct the heading; if not, no operation is carried out, so that the unmanned aerial vehicle continues to land under the guidance of the inertial navigation module, and when the airborne computer judges that the unmanned aerial vehicle lands to the second preset height threshold value, a corresponding control instruction is generated to start the visual guidance module to assist the inertial navigation module to guide the unmanned aerial vehicle to land. That is, the correction is periodically performed by the radio guidance module while the real-time correction is performed by the satellite positioning module, thereby further improving the accuracy and reliability of the guidance.
In this embodiment, judge whether unmanned aerial vehicle deviates from the course through radio direction finding technique, specifically, can judge radio beacon according to the radio signal intensity that receives, the relative position of second ground beacon and unmanned aerial vehicle promptly to can judge whether this unmanned aerial vehicle deviates from the course according to this relative position.
And S204, the onboard computer starts the visual guidance module to receive the optical beacon signal emitted by the second ground beacon, and guides the unmanned aerial vehicle to land to a destination according to the optical beacon signal.
In some embodiments, if the flying height of the drone is less than the second preset height, it indicates that the drone is currently in a low altitude stage, in this stage, due to the influence of the geographic environment, both the satellite signal and the radio signal may be interfered by the ground and lose data, or an abnormality occurs, so that the satellite positioning module and the radio guidance module cannot be used normally, therefore, the onboard computer sends a control instruction indicating to start the visual guidance module, so as to start the visual guidance module to receive the optical beacon signal of the second ground beacon (of course, the satellite positioning module and the radio guidance module are correspondingly turned off), and obtains the optical beacon signal from the visual guidance module, then performs data processing on the optical beacon signal, obtains a third control instruction, and then sends the third control instruction to the flight controller of the drone so as to control the drone to land. That is, when unmanned aerial vehicle descends to certain height, supplementary inertial navigation module guide unmanned aerial vehicle by vision guide module descends.
The guiding landing method of the embodiment does not need to preset a parking position, a cooperation lamp array and the like, and different modules are adopted to assist the inertial navigation module in different stages of landing, for example, in a low altitude stage, only the visual guidance module is adopted to assist the inertial navigation module to guide (avoid interference signals or no signal influence); in the hollow stage, the satellite positioning module and the radio guide module are used for respectively carrying out real-time correction and periodic correction on inertial navigation; and in the high-altitude stage, the inertial navigation module is corrected in real time by using the satellite positioning module.
Of course, in other embodiments, if the image of the landing point/destination is pre-stored, such as a satellite image or an image captured at high altitude, after the visual guidance module is started, the image captured by the visual guidance module may be compared with the pre-stored satellite image or image captured at high altitude, so as to correct the inertial navigation module according to the comparison result.
Embodiment 3 is based on the above guided landing system, and the present invention further provides another guided landing method for an unmanned aerial vehicle in a complex environment, which includes the steps in embodiment 2, except that when it is determined in step S201 that the current flying height is less than or equal to the first preset height threshold and greater than the second preset height threshold (of course, the second preset height threshold is not the communication distance limit of the second ground beacon but is set according to the physical environment of the current landing point, and when the current flying height is greater than the second preset height threshold, the visual guidance module can also receive the optical beacon signal), the radio guidance module is started, and the visual guidance module is also started to receive the optical beacon signal, so as to correct the flight path of the unmanned aerial vehicle, which is guided by the inertial guidance module, according to the optical beacon signal.
Correspondingly, when the unmanned aerial vehicle descends to a second preset altitude threshold, the onboard computer directly controls to close the radio guidance module and the satellite positioning module, and only the visual guidance module is reserved to assist the inertial navigation module.
Embodiment 4 is based on the above guided landing system, and the present invention further provides another guided landing method for an unmanned aerial vehicle in a complex environment, which includes the steps in embodiment 2 or 3, except that after the unmanned aerial vehicle lands, the position (for example, coordinates) of the current landing point is compared with the destination corresponding to each task in the pre-stored task list, and the destination closest to the current landing point is set as the next landing point, that is, the task corresponding to the destination is taken as the new task to be executed.
Of course, further, the current remaining energy consumption (for example, the remaining power) may be detected in advance, the flight distance may be estimated according to the current remaining energy consumption, and each task in the task list may be preliminarily screened according to the estimated flight distance, that is, a task corresponding to a destination whose distance between the corresponding destination and the current drop point is smaller than the estimated flight distance may be used as a task to be selected, and then a destination whose distance from the current drop point is the closest may be selected from the tasks to be selected as a next drop point.
In a third aspect of the present invention, an electronic device is provided, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the steps of the method as described above. For convenience of description, only the parts related to the embodiments of the present specification are shown, and specific technical details are not disclosed, so that reference is made to the method parts of the embodiments of the present specification. The electronic device may be any electronic device including various electronic devices, a PC computer, a network cloud server, a mobile phone, a tablet computer, a PDA (Personal Digital Assistant), a POS (Point of Sales), a vehicle-mounted computer, a desktop computer, and the like.
In particular, a bus may include any number of interconnected buses and bridges that link together various circuits including one or more processors, represented by processors, and memory, represented by memory. The bus may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The communication interface provides an interface between the bus and the receiver and/or transmitter, which may be separate independent receivers or transmitters or may be the same element, such as a transceiver, providing a means for communicating with various other devices over a transmission medium. The processor is responsible for managing the bus and general processing, while the memory may be used to store data used by the processor in performing operations.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a computer-readable storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, or a network device, etc.) to execute the above method according to the embodiments of the present disclosure.
The computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
The computer readable medium carries one or more programs which, when executed by a device, cause the computer readable medium to perform the functions of: the method comprises the steps of acquiring the current flying height of the unmanned aerial vehicle in real time, and judging whether the current flying height is smaller than or equal to a first preset height threshold value and larger than a second preset height threshold value; if the current flight altitude is larger than the first preset altitude threshold value, the onboard computer acquires real-time positioning data of a satellite positioning module in real time and corrects a landing route guided by the inertial navigation module in real time according to the real-time positioning data; if the current flying height is smaller than or equal to the first preset height threshold value and larger than the second preset threshold value, the airborne computer starts the radio guide module to receive a radio beacon signal transmitted by a first ground beacon and periodically corrects the landing route according to the radio beacon signal; if current flying height is less than or equal to second preset altitude threshold, airborne computer control closes satellite positioning module with radio guide module to start the optical beacon signal that vision guide module received second ground beacon transmission, and according to the optical beacon signal is right unmanned aerial vehicle is in the descending route of inertial navigation module under the guidance corrects.
Those skilled in the art will appreciate that the modules described above may be distributed in the apparatus according to the description of the embodiments, or may be modified accordingly in one or more apparatuses unique from the embodiments. The modules of the above embodiments may be combined into one module, or further split into multiple sub-modules.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention or portions thereof contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes several instructions for enabling a computer terminal (which may be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods according to the embodiments of the present invention.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a component of' 8230; \8230;" does not exclude the presence of another like element in a process, method, article, or apparatus that comprises the element.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. The utility model provides an unmanned aerial vehicle accurate landing method under complex environment, its characterized in that, the method is based on unmanned aerial vehicle guide landing system under complex environment, and it includes: the unmanned aerial vehicle comprises a first ground beacon for transmitting a radio beacon signal, a second ground beacon for transmitting an optical beacon signal, an inertial navigation module for guiding the unmanned aerial vehicle to land to a destination in the whole process, a satellite positioning module for positioning the unmanned aerial vehicle in real time, a radio guide module for receiving the radio beacon signal transmitted by the first ground beacon, a visual guide module for receiving the optical beacon signal transmitted by the second ground beacon or acquiring a terrain image in a visual field range, and an on-board computer, and accordingly the method comprises the following steps:
acquiring current flight data of the unmanned aerial vehicle in real time through the onboard computer, and judging whether the current flight height is smaller than or equal to a first preset height threshold value and larger than a second preset height threshold value;
if the current flight altitude is larger than the first preset altitude threshold value, the on-board computer judges that the unmanned aerial vehicle is currently in an overhead stage, and acquires real-time positioning data of a satellite positioning module in real time so as to correct a landing route guided by the inertial navigation module in real time according to the real-time positioning data;
if the current flight height is smaller than or equal to the first preset height threshold value and larger than the second preset threshold value, the airborne computer judges that the unmanned aerial vehicle is currently in a hollow stage, starts the radio guidance module to receive a radio beacon signal transmitted by a first ground beacon, and periodically corrects the landing route according to the radio beacon signal;
if the current flying height is smaller than or equal to the second preset height threshold value, the airborne computer judges that the unmanned aerial vehicle is in a low altitude stage currently, controls to close the satellite positioning module and the radio guide module, starts a visual guide module to receive an optical beacon signal emitted by a second ground beacon, and corrects a landing route of the unmanned aerial vehicle under the guidance of the inertial navigation module according to the optical beacon signal; or carrying out image matching according to the terrain image acquired by the vision guidance module at present and a prestored destination image so as to correct the landing route of the unmanned aerial vehicle.
2. The method of claim 1, wherein the step of correcting the landing path based on the optical beacon signal comprises the steps of:
the airborne computer is right optical beacon signal carries out data processing, generates fifth control command to send unmanned aerial vehicle's flight control ware, in order to control unmanned aerial vehicle and be in descend under the supplementary guide of vision guide module, wherein, fifth control command includes relative position between second ground beacon and the unmanned aerial vehicle.
3. The method according to claim 1, wherein the step of correcting the landing path of the drone according to the radio beacon signal includes the steps of: the airborne computer judges whether the unmanned aerial vehicle deviates from the landing course currently according to the strength of the radio beacon signal, and if the unmanned aerial vehicle deviates, the airborne computer generates and sends a third control instruction to the unmanned aerial vehicle so as to control the unmanned aerial vehicle to stop landing and correct the course; wherein the third control instruction comprises a relative position between the first ground beacon and a drone; if not deviate, airborne computer control unmanned aerial vehicle continues to descend under the guidance of inertial navigation module, and works as unmanned aerial vehicle descends to when the second presets the height threshold value, start visual guide module to supplementary guide unmanned aerial vehicle descends to the destination.
4. The method according to claim 1, wherein the visual guidance module is activated to assist in guiding the drone to land to a destination while the current flying height is determined to be less than or equal to the first preset height threshold and greater than the second preset threshold and the radio guidance module is activated.
5. An unmanned aerial vehicle guided landing system in a complex environment, comprising:
a first ground beacon for transmitting a radio beacon signal;
a second ground beacon for transmitting an optical beacon signal;
the inertial navigation module is used for guiding the unmanned aerial vehicle to land towards a destination in the whole course;
the satellite positioning module is used for positioning the unmanned aerial vehicle in real time;
a radio guidance module for receiving a radio beacon signal transmitted by the first terrestrial beacon;
the visual guidance module is used for receiving an optical beacon signal emitted by the second ground beacon or acquiring a ground image in a visual field range;
the airborne computer is used for acquiring current flight data of the unmanned aerial vehicle, judging three altitude stages where the unmanned aerial vehicle is guided to land, and judging the altitude stages if the current flight altitude is greater than a first preset altitude threshold value; judging that the current flying height is less than or equal to a first preset height threshold value and greater than a second preset height threshold value to be a hollow stage; if the current flying height is less than or equal to a second preset height threshold value, determining the current flying height to be in a low-altitude stage; when the unmanned aerial vehicle is judged to be guided to land at the high altitude stage, the unmanned aerial vehicle is controlled to mainly guide to land by taking the navigation data of the inertial navigation module as a main part, and a landing route is corrected in real time according to the real-time positioning data of the satellite positioning module; when the unmanned aerial vehicle is judged to be in the hollow stage, starting the radio guide module, and periodically acquiring the radio beacon signal received by the radio guide module so as to periodically correct the landing route of the unmanned aerial vehicle according to the radio beacon signal; and if the unmanned aerial vehicle is judged to be in a low-altitude stage, controlling to close the radio guide module, starting the visual navigation module to receive the optical beacon signal, and performing image matching according to the optical beacon signal or the terrain image acquired by the visual navigation module currently and a prestored destination image so as to correct the landing route of the unmanned aerial vehicle.
6. The system according to claim 5, wherein the onboard computer is specifically configured to perform data processing on the optical beacon, generate a fifth control instruction according to a processing result, and send the fifth control instruction to the flight controller of the drone so as to control the drone to land under the auxiliary guidance of the visual guidance module, wherein the fifth control instruction includes a relative position between the second ground beacon and the drone.
7. The system of claim 5, wherein the onboard computer is specifically configured to determine whether the drone deviates from a preset landing heading based on the strength of the radio beacon signal, and if so, generate a third control command and send the third control command to the flight controller of the drone to control the drone to stop landing and correct the landing heading, wherein the third control command includes a relative position between the first ground beacon and the drone.
8. The system of claim 5, wherein the on-board computer is a light-weight on-board computer.
9. The system according to claim 5, wherein when the onboard computer determines that the current flying height is less than or equal to the first preset height threshold and greater than the second preset height threshold, the onboard computer is further configured to control to start the radio guidance module and simultaneously control to start the visual navigation module to receive the optical beacon signal or the image information, so as to correct the landing route of the unmanned aerial vehicle according to the optical beacon signal, or perform image matching according to the currently acquired terrain image and a pre-stored destination image, so as to correct the landing route of the unmanned aerial vehicle.
10. An electronic device for guiding a drone to land in a complex environment, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the following steps when executing the program:
acquiring current flight data of the unmanned aerial vehicle in real time, and judging whether the current flight height of the unmanned aerial vehicle is smaller than or equal to a first preset height threshold value and larger than a second preset height threshold value;
if the current flight altitude is larger than the first preset altitude threshold value, judging that the unmanned aerial vehicle is in an altitude stage, and acquiring real-time positioning data of a satellite positioning module in real time so as to correct a landing route guided by the inertial navigation module in real time according to the real-time positioning data;
if the current flying height is smaller than or equal to the first preset height threshold value and larger than the second preset threshold value, judging that the unmanned aerial vehicle is in a hollow stage, starting the radio guide module to receive a radio beacon signal emitted by a first ground beacon, and periodically correcting the landing route according to the radio beacon signal;
if the current flying height is smaller than or equal to the second preset height threshold value, the unmanned aerial vehicle is judged to be in a low altitude stage currently, the satellite positioning module and the radio guide module are controlled to be closed, the visual guide module is started to receive an optical beacon signal emitted by a second ground beacon, and then the landing route of the unmanned aerial vehicle under the guidance of the inertial navigation module is corrected according to the optical beacon signal, or a terrain image shot by the visual guide module currently is obtained and is matched with a prestored destination image, so that the landing route of the unmanned aerial vehicle under the guidance of the inertial navigation module is corrected.
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| CN116793340A (en) * | 2023-08-29 | 2023-09-22 | 陕西德鑫智能科技有限公司 | Unmanned aerial vehicle automatic landing navigation method and device and electronic equipment |
| CN116793340B (en) * | 2023-08-29 | 2023-11-24 | 陕西德鑫智能科技有限公司 | Unmanned aerial vehicle automatic landing navigation method and device and electronic equipment |
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