CN208043085U - Unmanned plane directed navigation device - Google Patents
Unmanned plane directed navigation device Download PDFInfo
- Publication number
- CN208043085U CN208043085U CN201820567618.XU CN201820567618U CN208043085U CN 208043085 U CN208043085 U CN 208043085U CN 201820567618 U CN201820567618 U CN 201820567618U CN 208043085 U CN208043085 U CN 208043085U
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- reception antenna
- gnss
- directed navigation
- satellite reception
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 10
- 238000004891 communication Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000000903 blocking effect Effects 0.000 claims description 3
- 235000013399 edible fruits Nutrition 0.000 claims description 2
- 229940079593 drug Drugs 0.000 abstract description 3
- 239000003814 drug Substances 0.000 abstract description 3
- 239000003337 fertilizer Substances 0.000 abstract description 3
- 230000011664 signaling Effects 0.000 abstract description 3
- 238000009434 installation Methods 0.000 description 9
- 230000008901 benefit Effects 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 229910001416 lithium ion Inorganic materials 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The utility model discloses unmanned plane directed navigation devices, including the first GNSS satellite reception antenna, the second GNSS satellite reception antenna, GNSS receiver to resolve module, directed navigation result output module.GNSS satellite reception antenna, which receives satellite-signal and is transmitted to GNSS receiver, resolves module；GNSS receiver resolves module and resolves generation directed navigation as a result, being transmitted to directed navigation result output module by signaling interface according to signal source；Directed navigation result output module exports navigation results to system for flight control computer.The utility model is resolved by the autonomous difference of double GNSS reception antennas, and the directed navigation of degree of precision can be also realized without base station；It can also be calculated by offsetting the positioning Difference Solution of common error, further improve the precision of directed navigation；On the basis of high-precision directed navigation, when unmanned plane carries out plant protection operation sprinkling, the overlapping region sprayed between course line and course line is precisely controllable, improves operating efficiency, while saving drug or fertilizer.
Description
Technical field
The utility model is related to the technical fields more particularly to unmanned plane directed navigation device of the navigation of unmanned plane course.
Background technology
With the mature of unmanned plane the relevant technologies, purposes is further extensive, such as agricultural plant protection, city management,
The industries such as matter exploration, weather monitoring, electric inspection process, rescue and relief work, aeroplane photography, video capture.Unmanned plane is led in sector application
The precision requirement of boat is higher and higher, especially agricultural plant protection industry, and operation effect can be greatly improved by autonomous airline operation
Rate reduces human cost.
In agricultural plant protection industry, the purpose of autonomous airline operation is by way of automation to carry out agriculture to operating area
Medicine or chemical fertilizer sprinkling, therefore, to assure that unmanned plane flies according to course line elaborate position, while also needing to be precisely controlled nozzle by area
The degree of overlapping in domain.
Based on high accuracy positioning position, Navigation of Pilotless Aircraft flight is provided with independence, utility model patent
CN201610951692.7 discloses a kind of operating system of plant protection drone, and unmanned plane rises according to connection current location and operation
The line of flight of beginning position carries out positioning plant protection operation.Unmanned plane carrier carries out flying it in addition to the course line for following point to be formed
Outside, it is also necessary to which control direction needs to obtain course angle information.
Utility model patent CN201620703271.8 discloses a kind of plant protection drone system of autonomous flight, passes through magnetic
Heading device coordinates GPS receiver to generate bearing signal, is used for unmanned plane during flying posture, includes the control in course.It is disclosed above special
Profit solves the accurate navigation of unmanned plane position, and the planing method of autonomous airline operation.
Utility model patent CN201620703271.8 uses the scheme of magnetic heading, coordinates GPS receiver, and it is fixed to provide
The two kinds of signal Navigation Controls in position and orientation, and directional control signal is provided by magnetic heading, for unmanned plane carrier, can be carried
Equipment volume and weight demands it is higher, can only use low precision MEMS device scheme, course export result it is not accurate enough.
In addition, using the magnetic heading of detection magnetic field signal, it is anti-interference easily by the signal interference of the electromagnetic field of airborne various radiation of equipment
Indifferent, in the case of not doing especially processing, course navigation is vulnerable.
Invention content
For overcome the deficiencies in the prior art, the purpose of this utility model is to provide unmanned plane directed navigation device, purports
Degree of overlapping is inconsistent between the unmanned machine operation course line for solving the prior art, and overlapping region cannot achieve precisely controllable, operation
The not high enough problem of efficiency.
The purpose of this utility model is realized using following technical scheme：
A kind of unmanned plane directed navigation device, including the first GNSS satellite reception antenna, the second GNSS satellite reception antenna,
GNSS receiver resolves module, directed navigation result output module；
GNSS receiver resolve module respectively with the first GNSS satellite reception antenna, the second GNSS satellite reception antenna, fixed
It is connected to navigation results output module；
Directed navigation result output module is also connect with system for flight control computer.
On the basis of the above embodiments, it is preferred that further include resolving the differential data that module is connect with GNSS receiver
Chain communication antenna.
On the basis of the above embodiments, it is preferred that further include being set to the first GNSS satellite reception antenna to connect with GNSS
Receipts machine resolves the first antenna between module and connects radio frequency feed line, is set to the second GNSS satellite reception antenna and GNSS receiver
The second antenna resolved between module connects radio frequency feed line, and is set to differential data chain communication antenna and GNSS receiver solution
The third antenna calculated between module connects radio frequency feed line.
On the basis of above-mentioned any embodiment, it is preferred that further include being set to GNSS receiver to resolve module and orientation
Internal signal interface between navigation results output module.
On the basis of above-mentioned any embodiment, it is preferred that further include the number being connect with directed navigation result output module
According to coffret, directed navigation result output module is connect by data transmission interface with system for flight control computer.
On the basis of above-mentioned any embodiment, it is preferred that when unmanned plane is the rotor wing unmanned aerial vehicle that wheelbase is more than 1 meter, the
One GNSS satellite reception antenna, the second GNSS satellite reception antenna are mounted on rotor lever arm.
On the basis of the above embodiments, it is preferred that the first GNSS satellite reception antenna, the second GNSS satellite reception antenna
The vector of formation is with unmanned plane direction of advance in direction horizontally or vertically.
Or, it is preferred that when unmanned plane is the small drone that overall length is no more than 50 centimetres, taken using fuselage extension system
The extending bracket of long range is built, extending bracket overall length is more than the slewing area of rotation paddle, by the first GNSS satellite reception antenna, second
GNSS satellite reception antenna is mounted on stent ends.
On the basis of the above embodiments, it is preferred that support height in the end of extending bracket, the first GNSS satellite is received into day
Line, the second GNSS satellite reception antenna, which are mounted on, to be supportted on high stent ends, enables two antennas higher than rotation paddle, with against rotation paddle
Blocking when rotation.
Or, it is preferred that when unmanned plane is fixed-wing unmanned plane, the first GNSS satellite reception antenna, the second GNSS satellite
Reception antenna is mounted on the front and back position of fuselage.
Compared with prior art, the beneficial effects of the utility model are：
The utility model discloses unmanned plane directed navigation device, GNSS satellite reception antenna receives satellite-signal and transmits
Module is resolved to GNSS receiver；GNSS receiver resolves module and resolves generation directed navigation as a result, passing through letter according to signal source
Number interface is transmitted to directed navigation result output module；Directed navigation result output module according to UAV Flight Control needs,
Navigation results are exported, are exported to system for flight control computer by exporting coffret.
There are two GNSS satellite reception antennas for the utility model tool, by the position for resolving two satellite earth antennas respectively
It sets, forms the vector for the baseline that two positions are constituted.The baseline vector is referred to normal vector i.e. structure in some coordinate system
At course angle.The vector that two antennas are formed is fixedly mounted on unmanned plane carrier, then can be obtained opposite on unmanned plane carrier
In the course angle of canonical reference vector, namely obtain the directed navigation result of carrier.Since double antenna parallax range compares day
Line position is very small to the distance between satellite position, and the position of two antennas, which resolves, has very high correlation, passes through double difference
Models computed offsets common error, you can obtain high-precision course angle.
The utility model is for the unmanned plane demand that autonomous airline operation navigates to course entirely and prior art
Disadvantage realizes the accurate navigation in unmanned plane carrier course, inconsistent to solve flight range degree of overlapping between course line and course line
The problem of；Satellite signal receiving resolving, difference are resolved and the generation of directed navigation result is integrated in one, improves the integrated of module
Degree and independence, reduce the complexity interconnected between each module, are easily formed product, improve productibility.
The utility model uses the satellite navigation measurement method with time continuity, realizes that the orientation of real-time continuous is led
Boat.It is resolved by the autonomous difference of double GNSS reception antennas, the orientation of degree of precision can be also realized without base station
Navigation；It is calculated again by offsetting the positioning Difference Solution of common error, improves the measurement accuracy of baseline vector, further improve orientation
The precision of navigation.Herein on the basis of high-precision directed navigation, when unmanned plane carries out plant protection operation sprinkling, sprayed between course line and course line
The overlapping region spilt is precisely controllable, improves operating efficiency, while saving drug or fertilizer.
Description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 shows a kind of structural schematic diagram for unmanned plane directed navigation device that the utility model embodiment provides；
Fig. 2 shows a kind of schematic view of the mounting position for GNSS satellite reception antenna that the utility model embodiment provides；
Fig. 3 shows a kind of schematic view of the mounting position for GNSS satellite reception antenna that the utility model embodiment provides；
Fig. 4 shows a kind of schematic view of the mounting position for GNSS satellite reception antenna that the utility model embodiment provides；
Fig. 5 shows the signal of the straight line shape of chinese word Ji course line that the utility model embodiment provides and its overlapping region comparison
Figure.
Specific implementation mode
In the following, in conjunction with attached drawing and specific implementation mode, the utility model is described further, it should be noted that
Under the premise of not colliding, it can be formed in any combination between various embodiments described below or between each technical characteristic new
Embodiment.
As shown in Figure 1, the utility model embodiment provides a kind of unmanned plane directed navigation device, including the first GNSS is defended
Star reception antenna, the second GNSS satellite reception antenna, GNSS receiver resolve module, directed navigation result output module；GNSS
It is defeated with the first GNSS satellite reception antenna, the second GNSS satellite reception antenna, directed navigation result respectively that receiver resolves module
Go out module connection；Directed navigation result output module is also connect with system for flight control computer.
In the utility model embodiment, GNSS satellite reception antenna receives satellite-signal and is transmitted to GNSS receiver resolving
Module；GNSS receiver resolves module and resolves generation directed navigation as a result, being transmitted to orientation by signaling interface according to signal source
Navigation results output module；Directed navigation result output module exports navigation results, passes through according to UAV Flight Control needs
Output coffret is exported to system for flight control computer.There are two GNSS satellite reception antennas for the utility model embodiment tool, lead to
The position for resolving two satellite earth antennas respectively is crossed, the vector for the baseline that two positions are constituted is formed.The baseline vector is at certain
It is referred to normal vector in one coordinate system and constitutes course angle.The vector that two antennas are formed is fixed on unmanned plane carrier
Installation, then can be obtained the course angle relative to canonical reference vector on unmanned plane carrier, namely obtain the directed navigation of carrier
As a result.Due to double antenna parallax range compare aerial position to the distance between satellite position very small, the position of two antennas
Resolving has very high correlation, by double difference Models computed, offsets common error, you can obtain high-precision course angle.This reality
The shortcomings that unmanned plane autonomous airline operation navigates to course entirely demand and prior art being directed to new embodiment, it is real
The accurate navigation in existing unmanned plane carrier course, to solve the problems, such as that flight range degree of overlapping is inconsistent between course line and course line；
By satellite signal receiving resolve, difference resolve and directed navigation result generation be integrated in one, improve module integrated level and solely
Vertical property, reduces the complexity interconnected between each module, is easily formed product, improves productibility.
Preferably, the utility model embodiment can also include resolving the differential data chain that module is connect with GNSS receiver
Communication antenna.Mould is resolved the advantage of doing so is that the differential data at terrestrial reference station can be received and be transmitted to GNSS receiver
Block is modified for the directed navigation result to GNSS satellite reception antenna.The advantage of doing so is that passing through Differential positioning solution
It calculates, improves the positioning accuracy of two GNSS satellite reception antennas, and then improve the measurement accuracy of baseline vector, improve directed navigation
Calculation accuracy.
Terrestrial reference station and unmanned aerial vehicle onboard GNSS receiver device receive Satellite Observations, terrestrial reference station warp simultaneously
Primary Location resolving is crossed, carrier phase difference correction is filled according to link transmission to airborne GNSS receiver by radio communication
It sets, the satellite data that airborne GNSS receiver device observes oneself is carried out with the differential correcting data that base station sends over
Difference resolves, and offsets common error, obtains high-precision location navigation result.It is double to improve by promoting positioning accuracy
The calculation accuracy of antenna baseline vector.Has high-precision directed navigation, unmanned plane autonomous flight course line is just provided with cleverer
Planning mode living ensures that unmanned plane can fly according to specified deflection angle.As shown in figure 5, for universal straight
For line shape of chinese word Ji course line, when course line is with spraying operation between course line, if without accurately directed navigation, nozzle sprays unmanned plane
The region spilt will likely be overlapped excessively, it is also possible to can not be overlapped, be caused plant protection operation ill effect.
Preferably, the utility model embodiment can also include being set to the first GNSS satellite reception antenna to receive with GNSS
Machine resolves the first antenna between module and connects radio frequency feed line, is set to the second GNSS satellite reception antenna and GNSS receiver solution
The second antenna calculated between module connects radio frequency feed line, and is set to differential data chain communication antenna and is resolved with GNSS receiver
Third antenna between module connects radio frequency feed line.
Preferably, the utility model embodiment can also include being set to GNSS receiver to resolve module and directed navigation knot
Internal signal interface between fruit output module.
Preferably, the utility model embodiment can also include the data transmission being connect with directed navigation result output module
Interface, directed navigation result output module are connect by data transmission interface with system for flight control computer.
Preferably, the utility model embodiment can also include the power supply power supply being connect with directed navigation result output module
Interface.
What the calculating of baseline vector relied on is the position location information of two satellite earth antennas, when two positions are leaned on very much
Closely, i.e., when two antenna installations are very small apart, the error of Vector operation will be very big, even result in not calculating and determine
To navigation results.Therefore, two GNSS satellite reception antennas installation of unmanned plane directed navigation GNSS receiver system must meet
Resolving condition.
When unmanned plane is the rotor wing unmanned aerial vehicle that wheelbase is more than 1 meter, the first GNSS satellite reception antenna, the second GNSS satellite
Reception antenna may be mounted on rotor lever arm, as shown in Figure 2.Preferably, the first GNSS satellite reception antenna, the 2nd GNSS are defended
The vector that star reception antenna is formed can be with unmanned plane direction of advance in direction horizontally or vertically.The advantage of doing so is that energy
Enough more easily setting angle of the calibration double antenna baseline vector in unmanned plane carrier.When installation wiring, antenna can be connected
Radio frequency feed line passes through the hollow part of unmanned plane cantilever, and the fastening of GNSS antenna will not be interfered to install, while making machine routing
It is more succinct.
And for small drone, overall length is no more than 50 centimetres, and the installation that fuselage extension system builds long range can be used
Holder.When unmanned plane is the small drone that overall length is no more than 50 centimetres, fuselage extension system may be used and build over long distances
Extending bracket, extending bracket overall length be more than rotation paddle slewing area, by the first GNSS satellite reception antenna, the second GNSS satellite
Reception antenna is mounted on stent ends, as shown in Figure 3.Preferably, height can also be supportted in the end of extending bracket, by first
GNSS satellite reception antenna, the second GNSS satellite reception antenna, which are mounted on, to be supportted on high stent ends, enables two antennas higher than rotation
Paddle, blocking when with against rotation paddle rotation.Preferably, the first GNSS satellite reception antenna, the second GNSS satellite reception antenna
The vector of formation can be with unmanned plane direction of advance in direction horizontally or vertically.
For fixed-wing unmanned plane, two GNSS satellite reception antennas can be mounted on to the front and back position of fuselage, tightness
It is stronger, the flight air drag of unmanned plane will not be increased.When unmanned plane is fixed-wing unmanned plane, the first GNSS satellite receives
Antenna, the second GNSS satellite reception antenna may be mounted at the front and back position of fuselage, as shown in Figure 4.Preferably, the first GNSS is defended
The vector that star reception antenna, the second GNSS satellite reception antenna are formed can be with unmanned plane direction of advance in side horizontally or vertically
To.
Preferably, small-sized helical antenna may be used in GNSS satellite reception antenna, reduces weight and installation occupies body
Product extends unmanned plane cruise duration；Differential data chain communication antenna can be according to the working frequency range of the wireless communication module of selection
Depending on；GNSS receiver resolves module and directed navigation result output module and can be integrated on a self-contained unit.
Preferably, the coaxial cable of 50 Ω may be used in antenna connection radio frequency feed line, the advantage of doing so is that, it can be compatible with
Most radiofrequency signal characteristic impedance improves shield effectiveness.It is defeated to directed navigation result that GNSS receiver resolves module transfer
The general serial coffret of TTL/CMOS level natures may be used in the signaling interface for going out module, and portion passes in independent device
Defeated signal.The general serial output of TTL/CMOS level natures or RS232 level natures may be used in external data transfer interface
Interface can also use general serial transfer bus USB interface, control area network C AN interfaces also can be used.Power supply power supply connects
Mouth may be used mark with positive-negative polarity, and interface of the through-current capability more than 1A, voltage range meets the lithium ion of 2S~9S
Nominal 7.4~33.3V of battery powered range.
Benefit caused by the utility model embodiment includes：
1, a kind of GNSS receiver device of unmanned plane directed navigation is provided.Two satellite signal receiving antennas are formed
Real-time continuous course navigation.In agricultural plant protection operation using upper, satellite signal receiving is not blocked, and calculation result precision is more
Height compares the scheme using magnetic heading, can obtain more accurately Heading control signal.On the other hand, using GNSS satellite
Signal carry out course navigation, avoid magnetic heading easily by airborne various other installation electromagnetical interference effects the problem of, have more
Stability.
2, double GNSS reception antennas provide autonomous difference, offset common error.
3, lengthening baseline installation of the double antenna on unmanned plane carrier improves directed navigation precision.
4, positioning Difference Solution calculates the measurement accuracy for improving double antenna baseline vector.
5, accurately course navigation helps to reduce the overlapping region sprayed between course line and course line, improves operating efficiency.
The utility model embodiment not only proposes a kind of GNSS receiver device for the directed navigation being equipped on unmanned plane, and
Give the mode that installation directed navigation device is carried on unmanned plane.
The utility model is from using in purpose, and in efficiency, the viewpoints such as progress and novelty are illustrated, the practicality having
Progressive, oneself meets the function that Patent Law is emphasized and promotes and use important document, explanation more than the utility model and attached drawing, only
The preferred embodiment of the utility model and oneself, the utility model is not limited to this, therefore, it is all with the utility model structure
It makes, device, the approximations, identical such as waits levying, i.e., it is all according to equivalent replacement or modification etc. made by the utility model patent application range,
Within the scope of the patent application protection that the utility model should all be belonged to.
It should be noted that in the absence of conflict, the feature in the embodiments of the present invention and embodiment can
To be combined with each other.Although the utility model has been carried out a degree of description, it will be apparent that, in the essence for not departing from the utility model
God can carry out the appropriate variation of each condition under conditions of range.It is appreciated that the utility model is not limited to the embodiment party
Case, and it is attributed to the scope of the claims comprising the equivalent replacement of each factor.It will be apparent to those skilled in the art that
Technical solution that can be as described above and design, make various other corresponding changes and deformation, and all these
Change and deformation should all belong within the protection domain of the utility model claims.
Claims (10)
1. a kind of unmanned plane directed navigation device, which is characterized in that including the first GNSS satellite reception antenna, the second GNSS satellite
Reception antenna, GNSS receiver resolve module, directed navigation result output module；
GNSS receiver resolves module and is led respectively with the first GNSS satellite reception antenna, the second GNSS satellite reception antenna, orientation
The result output module that navigates connects；
Directed navigation result output module is also connect with system for flight control computer.
2. unmanned plane directed navigation device according to claim 1, which is characterized in that further include being resolved with GNSS receiver
The differential data chain communication antenna of module connection.
3. unmanned plane directed navigation device according to claim 2, which is characterized in that further include being set to the first GNSS to defend
Star reception antenna and GNSS receiver resolve the first antenna between module and connect radio frequency feed line, are set to the second GNSS satellite and connect
The second antenna received between antenna and GNSS receiver resolving module connects radio frequency feed line, and is set to the communication of differential data chain
Antenna and GNSS receiver resolve the third antenna between module and connect radio frequency feed line.
4. unmanned plane directed navigation device according to claim 1 or 2, which is characterized in that further include being set to GNSS to connect
Receipts machine resolves the internal signal interface between module and directed navigation result output module.
5. unmanned plane directed navigation device according to claim 1 or 2, which is characterized in that further include and directed navigation knot
The data transmission interface of fruit output module connection, directed navigation result output module fly control by data transmission interface and unmanned plane
System connects.
6. unmanned plane directed navigation device according to claim 1 or 2, which is characterized in that unmanned plane is that wheelbase is more than 1 meter
Rotor wing unmanned aerial vehicle when, the first GNSS satellite reception antenna, the second GNSS satellite reception antenna be mounted on rotor lever arm on.
7. unmanned plane directed navigation device according to claim 6, which is characterized in that the first GNSS satellite reception antenna,
The vector that second GNSS satellite reception antenna is formed is with unmanned plane direction of advance in direction horizontally or vertically.
8. unmanned plane directed navigation device according to claim 1 or 2, which is characterized in that unmanned plane is no more than for overall length
When 50 centimetres of small drone, the extending bracket of long range is built using fuselage extension system, extending bracket overall length is more than rotation
First GNSS satellite reception antenna, the second GNSS satellite reception antenna are mounted on stent ends by the slewing area of paddle.
9. unmanned plane directed navigation device according to claim 8, which is characterized in that height is supportted in the end of extending bracket,
First GNSS satellite reception antenna, the second GNSS satellite reception antenna are mounted on and supportted on high stent ends, two antennas are enabled
Higher than rotation paddle, blocking when with against rotation paddle rotation.
10. unmanned plane directed navigation device according to claim 1 or 2, which is characterized in that unmanned plane be fixed-wing nobody
When machine, the first GNSS satellite reception antenna, the second GNSS satellite reception antenna are mounted on the front and back position of fuselage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820567618.XU CN208043085U (en) | 2018-04-18 | 2018-04-18 | Unmanned plane directed navigation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820567618.XU CN208043085U (en) | 2018-04-18 | 2018-04-18 | Unmanned plane directed navigation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208043085U true CN208043085U (en) | 2018-11-02 |
Family
ID=63927959
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820567618.XU Expired - Fee Related CN208043085U (en) | 2018-04-18 | 2018-04-18 | Unmanned plane directed navigation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208043085U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110244335A (en) * | 2019-06-04 | 2019-09-17 | 深圳供电局有限公司 | Double antenna unjammable navigation device and unmanned plane |
-
2018
- 2018-04-18 CN CN201820567618.XU patent/CN208043085U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110244335A (en) * | 2019-06-04 | 2019-09-17 | 深圳供电局有限公司 | Double antenna unjammable navigation device and unmanned plane |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108535750A (en) | Unmanned plane navigation method for orienting, GNSS receiver device, GNSS receiver system | |
| CN204270115U (en) | The special flight control system of a kind of plant protection unmanned plane | |
| CN104407586B (en) | Drive decoupled plant protection unmanned aerial vehicle control system and control method | |
| CN105182999A (en) | High precision plant protection robot unmanned plane | |
| CN109911188A (en) | The bridge machinery UAV system of non-satellite navigator fix environment | |
| CN108062108A (en) | A kind of intelligent multi-rotor unmanned aerial vehicle and its implementation based on airborne computer | |
| CN106505318B (en) | A kind of Double directional aerial is adaptively directed at communication means | |
| CN105278546A (en) | Agricultural plant protection unmanned aerial vehicle planting control system | |
| CN106200680A (en) | A kind of unmanned plane cluster management system and control method thereof | |
| CN108628327A (en) | A kind of Navigation of Pilotless Aircraft device based on ultra-wideband communications | |
| CN110244770A (en) | A kind of accurate landing system of unmanned plane based on UWB positioning | |
| WO2021088133A1 (en) | Method and system for constructing flight trajectory of multi-rotor unmanned aerial vehicle | |
| CN205750557U (en) | A kind of plant protection unmanned plane using differential GPS to navigate | |
| CN102508493A (en) | Flight control method for small unmanned aerial vehicle | |
| CN102375150A (en) | Global positioning system (GPS) short-time self-differential navigation method and device of pesticide spray aircraft | |
| EP3754302A1 (en) | Flight control and navigation integrated machine | |
| CN207851538U (en) | Unmanned Aerial Vehicle Data acquires and return device | |
| CN108917590A (en) | Plant protection drone operation quality detection device and its detection method | |
| CN106597369A (en) | Control method, control platform and control system for unmanned planes | |
| CN107168355A (en) | Unmanned vehicle course line determines method and apparatus | |
| CN208043085U (en) | Unmanned plane directed navigation device | |
| CN113359786A (en) | Multi-rotor unmanned aerial vehicle accurate landing guiding method integrating flying heights | |
| CN111061284B (en) | Height control method for near-crop flight of plant protection unmanned aerial vehicle | |
| CN109270949A (en) | A kind of UAV Flight Control System | |
| CN109991993A (en) | The double flight control systems in the world based on RTK Differential positioning and winged control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181102 |