CN206178157U - Unmanned aerial vehicle flight control system based on CORS network differential positioning - Google Patents
Unmanned aerial vehicle flight control system based on CORS network differential positioning Download PDFInfo
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- CN206178157U CN206178157U CN201621193003.2U CN201621193003U CN206178157U CN 206178157 U CN206178157 U CN 206178157U CN 201621193003 U CN201621193003 U CN 201621193003U CN 206178157 U CN206178157 U CN 206178157U
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Abstract
The utility model provides an unmanned aerial vehicle flight control system based on CORS network differential positioning, include: the MEMS sensing unit for gather angular speed, linear velocity, atmospheric pressure and magnetic field data, GNSS positioning unit for acquire GNSS positioning data, network communication unit for acquire the CORS differential data, gesture / navigation the control unit for control unmanned aerial vehicle's gesture and navigation, the main control unit for operations such as data processing between each functional unit, data fusion, system control. The utility model discloses utilize the 3G network, acquire CORS basic station differential data, realize flight control system's RTK differential positioning, can satisfy high -end consumption unmanned aerial vehicle, specialty survey and drawing unmanned aerial vehicle centimetre level positioning accuracy's demand. Compare from putting up the basic station, the RTK differential positioning scheme of differential data is transmitted in the radio station, and it is more swift, high -efficient to adopt the CORS network to acquire the difference, has also eliminated the reduction of the remote positioning accuracy of radio station transmission mode, the limited drawback of radio station communication distance, also accords with the development trend of following RTK difference data network ization.
Description
Technical field
This utility model is related to GNSS receiver fields of measurement, and in particular to it is a kind of based on CORS network differentials position
System for flight control computer.
Background technology
With the development of information technology, unmanned plane enters into consumer electronics field via military industry field, especially rotor
Class unmanned plane market presented in recent years blowout growth, the demand of the professional field to unmanned plane such as surveyed and drew, takes photo by plane accordingly
It is more and more strong.Different from the manual manipulation of toy unmanned plane, high-end consumption unmanned plane, professional surveying and mapping unmanned plane etc. to unmanned plane
Automatization, flight precision require it is more and more high, and flight control system to the accurate calculating of positional information just into its key.
At present, unmanned plane positioning generally adopts GPS One-Point Locations, positioning precision much not to reach professional surveying and mapping in meter level
The requirement of Centimeter Level positional precision.Using the flight control system of RTK difference, undoubtedly into the preferred plan of hi-Fix instantly.
Existing RTK difference flight control system in the market, more using from frame base station, the RTK Differential positionings of differential data are transmitted in radio station
Scheme, needs ground high accuracy RTK base station to support, it may have long distance positioning precision is reduced, station telecommunication is apart from limited disadvantage
End.With the continuous improvement of CORS base stations country coverage rate, unmanned plane obtains CORS nets by 3G (or 2G/4G) mobile network
Network differential data resolving high precision positional information is possibly realized.
Utility model content
This utility model provides a kind of system for flight control computer positioned based on CORS network differentials, including：
MEMS sensing units, for gathering angular velocity, linear velocity, air pressure and magnetic field data；
GNSS positioning units, for obtaining GNSS location datas；
Network communication unit, for obtaining CORS differential datas；
Attitude/navigation control unit, for controlling attitude and the navigation of unmanned plane；
Main control unit, the main control unit includes that first resolves module, the second resolving module, the 3rd resolving module,
Described first resolves module connects the MEMS sensing units, for according to angular velocity, linear velocity, the gas for receiving
Pressure and magnetic field data carry out attitude, direction and height and resolve；
Described second resolves module connects the GNSS positioning units and the network communication unit, receives for basis
Location data and CORS differential datas carry out the resolving of RTK positions；
Described 3rd resolves module connection described first resolves module and described second and resolves module, for according to described the
The resolved data output attitude/Navigation Control of one resolving module and the second resolving module is instructed to the attitude/navigation control
Unit processed.
The above-mentioned system for flight control computer positioned based on CORS network differentials, wherein, the MEMS sensing units include
Accelerometer, gyroscope, electronic compass, barometer.
The above-mentioned system for flight control computer positioned based on CORS network differentials, wherein, the network communication unit be 2G,
3 or 4G communication units.
The above-mentioned system for flight control computer positioned based on CORS network differentials, wherein, the system for flight control computer is also
Including wireless remote control unit, it is connected with the main control unit, the wireless remote control unit is used to receive external remote transmission
Telecommand, and telecommand is transferred to into main control unit, main control unit sends to attitude/lead after changing to telecommand
Boat control unit.
The above-mentioned system for flight control computer positioned based on CORS network differentials, wherein, the system for flight control computer is also
Including extension IO ends, the extension IO ends are connected with the function expanding module of the main control unit；
External expansion equipment is linked into by system for flight control computer by the extension IO ends.
The above-mentioned system for flight control computer positioned based on CORS network differentials, wherein, system for flight control computer also includes
Monitoring module, the monitoring module is connected with the main control unit；
The monitoring module is provided with photographic head.
This utility model utilizes 3G mobile networks, obtains CORS base stations differential data, and the RTK difference for realizing flight control system is determined
Position, can meet high-end consumption unmanned plane, the demand of professional surveying and mapping unmanned plane centimeter-level positioning precision.Compare from frame base station, electricity
Platform transmits the RTK Differential positioning schemes of differential data, more quick, efficient using CORS Network Captures difference, also eliminates electricity
Platform transmission means long distance positioning precision reduce, station telecommunication apart from it is limited the drawbacks of, also comply with following RTK differential datas network
The development trend of change.
Description of the drawings
By reading the detailed description made to non-limiting example with reference to the following drawings, this utility model and its spy
Levy, profile and advantage will become more apparent upon.Identical labelling indicates identical part in whole accompanying drawings.Not deliberately according to
Ratio draws accompanying drawing, it is preferred that emphasis is illustrate purport of the present utility model.
A kind of signal of system for flight control computer positioned based on CORS network differentials that Fig. 1 is provided for this utility model
Figure.
Specific embodiment
In the following description, a large amount of concrete details are given this utility model is more thoroughly managed to provide
Solution.It is, however, obvious to a person skilled in the art that this utility model can be without the need for one or more of these thin
Save and be carried out.In other examples, in order to avoid obscuring with this utility model, for more well known in the art
Technical characteristic is not described.
In order to thoroughly understand this utility model, detailed step and detailed structure will be proposed in following description,
To explain the technical solution of the utility model.Preferred embodiment of the present utility model is described in detail as follows, but except these
Outside describing in detail, this utility model can also have other embodiment.
This utility model provides a kind of system for flight control computer positioned based on CORS network differentials, including：
MEMS sensing units 2, for gathering angular velocity, linear velocity, air pressure and magnetic field data；
GNSS positioning units 3, for obtaining GNSS location datas；For obtaining GNSS location datas, and from CORS networks
The differential data of acquisition carries out RTK resolvings, to obtain the high-precision location information of Centimeter Level；
Network communication unit 4, for realizing the network communication of unmanned plane, logs in CORS systems, obtains differential data, this
Outward, in actual applications, also dependent on need using mobile network extend remote monitoring function；
Attitude/navigation control unit 5, for controlling attitude and the navigation of unmanned plane；It is used to control by navigation control unit
Unmanned plane motor processed, steering wheel rotating speed, corner, realize the Navigation Control to unmanned plane；
Main control unit 1, the main control unit 1 includes that first resolves module 1a, the second resolving module 1b, the 3rd resolving module
1c；
Described first resolves module 1a connects the MEMS sensing units 2, for according to angular velocity, the linear speed for receiving
Degree, air pressure and magnetic field data carry out attitude, direction and height and resolve；
Described second resolves module 1b connects the GNSS positioning units 3 and the network communication unit 4, connects for basis
The location data and CORS differential datas for receiving carries out the resolving of RTK positions；
Described 3rd resolves module 1c connection described first resolves module 1a and the second resolving module 1b, for basis
The resolved data output attitude/Navigation Control of first resolving module 1a and the second resolving module 1b is instructed to the appearance
State/navigation control unit 5.
In the optional embodiment of this utility model one, the MEMS sensing units 2 include accelerometer, gyroscope, electricity
Sub- compass, barometer.
In the optional embodiment of this utility model one, the network communication unit 4 is 2G, 3 or 4G communication unit.
In the optional embodiment of this utility model one, the system for flight control computer also includes wireless remote control unit 1d,
It is connected with the main control unit 1, the wireless remote control unit 1d is used to receive the telecommand of the transmission of external remote 6, and will
Telecommand is transferred to main control unit 1, and main control unit 1 sends to attitude/navigation control unit after changing to telecommand
5。
In the optional embodiment of this utility model one, the system for flight control computer also includes extension IO end 1e, described
Extension IO end 1e are connected with the function expanding module of the main control unit 1；External extension is set by the extension IO ends 1e
Standby 7 are linked into system for flight control computer, the other equipment such as such as expansion is taken photo by plane, plant protection.
In the optional embodiment of this utility model one, system for flight control computer also includes monitoring module (not shown), institute
State monitoring module to be connected with the main control unit 1, for acquisition monitoring data during navigating by water in unmanned plane, wherein, the prison
Control module is provided with photographic head.
This utility model utilizes 3G mobile networks, obtains CORS base stations differential data, and the RTK difference for realizing flight control system is determined
Position, can meet high-end consumption unmanned plane, the demand of professional surveying and mapping unmanned plane centimeter-level positioning precision.Compare from frame base station, electricity
Platform transmits the RTK Differential positioning schemes of differential data, more quick, efficient using CORS Network Captures difference, also eliminates electricity
Platform transmission means long distance positioning precision reduce, station telecommunication apart from it is limited the drawbacks of, also comply with following RTK differential datas network
The development trend of change.
Preferred embodiment of the present utility model is described above.It is to be appreciated that this utility model not office
It is limited to above-mentioned particular implementation, wherein the equipment and structure that do not describe in detail to the greatest extent are construed as with the common side in this area
Formula is practiced；Any those of ordinary skill in the art, under without departing from technical solutions of the utility model ambit, may be used
Technical solutions of the utility model are made with many possible variations and modification using the methods and techniques content of the disclosure above, or is repaiied
The Equivalent embodiments of equivalent variations are changed to, this has no effect on flesh and blood of the present utility model.Therefore, it is every without departing from this practicality
The content of new technique scheme, according to technical spirit of the present utility model to any simple modification made for any of the above embodiments, etc.
With change and modification, still fall within the range of technical solutions of the utility model protection.
Claims (6)
1. it is a kind of based on CORS network differentials position system for flight control computer, it is characterised in that include：
MEMS sensing units, for gathering angular velocity, linear velocity, air pressure and magnetic field data；
GNSS positioning units, for obtaining GNSS location datas；
Network communication unit, for obtaining CORS differential datas；
Attitude/navigation control unit, for controlling attitude and the navigation of unmanned plane；
Main control unit, the main control unit includes that first resolves module, the second resolving module, the 3rd resolving module,
Described first resolves module connects the MEMS sensing units, for according to the angular velocity, linear velocity, air pressure for receiving and
Magnetic field data carries out attitude, direction and height and resolves；
Described second resolves module connects the GNSS positioning units and the network communication unit, for according to determining for receiving
Position data and CORS differential datas carry out the resolving of RTK positions；
Described 3rd resolves module connection described first resolves module and the second resolving module, for according to the described first solution
The resolved data output attitude/Navigation Control for calculating module and the second resolving module is instructed to the attitude/Navigation Control list
Unit.
2. it is as claimed in claim 1 to be based on the system for flight control computer that CORS network differentials are positioned, it is characterised in that described
MEMS sensing units include accelerometer, gyroscope, electronic compass, barometer.
3. it is as claimed in claim 1 to be based on the system for flight control computer that CORS network differentials are positioned, it is characterised in that the net
Network communication unit is 2G, 3 or 4G communication unit.
4. it is as claimed in claim 1 to be based on the system for flight control computer that CORS network differentials are positioned, it is characterised in that the nothing
Man-machine flight control system also includes wireless remote control unit, is connected with the main control unit, and the wireless remote control unit is used to receive outer
The telecommand that portion's remote control sends, and telecommand is transferred to into main control unit, main control unit is changed to telecommand
After send to attitude/navigation control unit.
5. it is as claimed in claim 4 to be based on the system for flight control computer that CORS network differentials are positioned, it is characterised in that the nothing
Man-machine flight control system also includes extension IO ends, and the extension IO ends are connected with the function expanding module of the main control unit；
External expansion equipment is linked into by system for flight control computer by the extension IO ends.
6. it is as claimed in claim 1 to be based on the system for flight control computer that CORS network differentials are positioned, it is characterised in that unmanned plane
Flight control system also includes monitoring module, and the monitoring module is connected with the main control unit；
The monitoring module is provided with photographic head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621193003.2U CN206178157U (en) | 2016-10-27 | 2016-10-27 | Unmanned aerial vehicle flight control system based on CORS network differential positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621193003.2U CN206178157U (en) | 2016-10-27 | 2016-10-27 | Unmanned aerial vehicle flight control system based on CORS network differential positioning |
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| Publication Number | Publication Date |
|---|---|
| CN206178157U true CN206178157U (en) | 2017-05-17 |
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| CN201621193003.2U Expired - Fee Related CN206178157U (en) | 2016-10-27 | 2016-10-27 | Unmanned aerial vehicle flight control system based on CORS network differential positioning |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107590757A (en) * | 2017-08-25 | 2018-01-16 | 乐琦（北京）科技有限公司 | A kind of unmanned plane Driving Test method and its intelligent apparatus |
| WO2018076723A1 (en) * | 2016-10-27 | 2018-05-03 | 上海华测导航技术股份有限公司 | Unmanned aerial vehicle flight control system based on cors network differential positioning |
| CN108761511A (en) * | 2018-04-18 | 2018-11-06 | 广州市中海达测绘仪器有限公司 | Unmanned plane GNSS base stations data transmission and control method, apparatus and system |
| CN108833540A (en) * | 2018-06-15 | 2018-11-16 | 成都纵横融合科技有限公司 | Unmanned plane aerial photography universe is exempted from as control CORS ad hoc network method |
| CN109141409A (en) * | 2018-02-24 | 2019-01-04 | 上海华测导航技术股份有限公司 | A kind of high-precision based on radio frequency radio station, miniaturization integrated navigation system |
| CN109496435A (en) * | 2017-12-15 | 2019-03-19 | 深圳市大疆创新科技有限公司 | Wireless communications method, equipment and system |
| CN109655844A (en) * | 2019-01-30 | 2019-04-19 | 东北农业大学 | High-precision CORS positioning device based on unmanned plane |
| CN113740894A (en) * | 2021-08-31 | 2021-12-03 | 中国电子科技集团公司第五十四研究所 | Wireless networking positioning equipment suitable for small unmanned aerial vehicle |
-
2016
- 2016-10-27 CN CN201621193003.2U patent/CN206178157U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018076723A1 (en) * | 2016-10-27 | 2018-05-03 | 上海华测导航技术股份有限公司 | Unmanned aerial vehicle flight control system based on cors network differential positioning |
| CN107991699A (en) * | 2016-10-27 | 2018-05-04 | 上海华测导航技术股份有限公司 | A kind of system for flight control computer based on the positioning of CORS network differentials |
| CN107590757A (en) * | 2017-08-25 | 2018-01-16 | 乐琦（北京）科技有限公司 | A kind of unmanned plane Driving Test method and its intelligent apparatus |
| CN109496435A (en) * | 2017-12-15 | 2019-03-19 | 深圳市大疆创新科技有限公司 | Wireless communications method, equipment and system |
| CN109141409A (en) * | 2018-02-24 | 2019-01-04 | 上海华测导航技术股份有限公司 | A kind of high-precision based on radio frequency radio station, miniaturization integrated navigation system |
| CN108761511A (en) * | 2018-04-18 | 2018-11-06 | 广州市中海达测绘仪器有限公司 | Unmanned plane GNSS base stations data transmission and control method, apparatus and system |
| CN108833540A (en) * | 2018-06-15 | 2018-11-16 | 成都纵横融合科技有限公司 | Unmanned plane aerial photography universe is exempted from as control CORS ad hoc network method |
| CN108833540B (en) * | 2018-06-15 | 2021-06-18 | 成都纵横融合科技有限公司 | Unmanned aerial vehicle aerial photography universe image-control-free CORS ad hoc network method |
| CN109655844A (en) * | 2019-01-30 | 2019-04-19 | 东北农业大学 | High-precision CORS positioning device based on unmanned plane |
| CN113740894A (en) * | 2021-08-31 | 2021-12-03 | 中国电子科技集团公司第五十四研究所 | Wireless networking positioning equipment suitable for small unmanned aerial vehicle |
| CN113740894B (en) * | 2021-08-31 | 2023-12-29 | 中国电子科技集团公司第五十四研究所 | Wireless networking positioning equipment suitable for small unmanned aerial vehicle |
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