FR3100895B1 - Procédé et système de positionnement automatique de drones en essaim - Google Patents

Procédé et système de positionnement automatique de drones en essaim Download PDF

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Publication number
FR3100895B1
FR3100895B1 FR1910053A FR1910053A FR3100895B1 FR 3100895 B1 FR3100895 B1 FR 3100895B1 FR 1910053 A FR1910053 A FR 1910053A FR 1910053 A FR1910053 A FR 1910053A FR 3100895 B1 FR3100895 B1 FR 3100895B1
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France
Prior art keywords
drone
automatic positioning
positioning method
central computer
swarm
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FR1910053A
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English (en)
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FR3100895A1 (fr
Inventor
Laurent Perchais
Rémi Potet
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Priority to FR1910053A priority Critical patent/FR3100895B1/fr
Priority to PCT/FR2020/051562 priority patent/WO2021048500A1/fr
Publication of FR3100895A1 publication Critical patent/FR3100895A1/fr
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • G01S5/0263—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems
    • G01S5/0264—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems at least one of the systems being a non-radio wave positioning system
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B64U2201/102—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] adapted for flying in formations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
    • G01S2205/03—Airborne

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Navigation (AREA)

Abstract

Procédé et système de positionnement automatique de drones en essaim La présente invention concerne un procédé de positionnement automatique d’une pluralité de drones (10) évoluant en essaim (100), chaque drone comportant un capteur inertiel (22), un module de localisation (23) pour système de positionnement par satellites, un capteur d’altitude (27, 28), un capteur d’image (26), un module de communication (24) ultra-large bande (UWB) et un calculateur central (25), ledit procédé comprenant pour chaque drone : une étape (500) de mesure de la position et de l’attitude du drone par les différents capteurs et par le module de localisation ; une étape (600) de mesure de distances au moyen du module de communication (24), comme cible, et de modules radiofréquence fixes (200), comme ancres ; une étape (700) de fusion des données issues de tout ou partie des capteurs du drone avec les mesures de distance obtenues à l’étape précédente, dans le calculateur central ; une étape (800) d’estimation de l’état dudit drone. figure pour l’abrégé : figure 1
FR1910053A 2019-09-12 2019-09-12 Procédé et système de positionnement automatique de drones en essaim Active FR3100895B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR1910053A FR3100895B1 (fr) 2019-09-12 2019-09-12 Procédé et système de positionnement automatique de drones en essaim
PCT/FR2020/051562 WO2021048500A1 (fr) 2019-09-12 2020-09-10 Procédé et système de positionnement automatique de drones en essaim

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1910053 2019-09-12
FR1910053A FR3100895B1 (fr) 2019-09-12 2019-09-12 Procédé et système de positionnement automatique de drones en essaim

Publications (2)

Publication Number Publication Date
FR3100895A1 FR3100895A1 (fr) 2021-03-19
FR3100895B1 true FR3100895B1 (fr) 2021-09-10

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
FR1910053A Active FR3100895B1 (fr) 2019-09-12 2019-09-12 Procédé et système de positionnement automatique de drones en essaim

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FR (1) FR3100895B1 (fr)
WO (1) WO2021048500A1 (fr)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113120713B (zh) * 2021-04-28 2023-09-08 上海有个机器人有限公司 电梯定位方法
CN113124856B (zh) * 2021-05-21 2023-03-14 天津大学 基于uwb在线锚点的视觉惯性紧耦合里程计及计量方法
CN113671972B (zh) * 2021-07-02 2024-06-21 深圳市视晶无线技术有限公司 一种长航时系留无人飞行器控制装置
CN114485639B (zh) * 2022-01-19 2023-10-20 浙江大学 一种用于室内导航的uwb定位漂移校正方法
CN114543810B (zh) * 2022-02-21 2023-06-13 中山大学 一种复杂环境下的无人机集群无源定位方法及装置
CN114623823B (zh) * 2022-05-16 2022-09-13 青岛慧拓智能机器有限公司 一种融合里程计的uwb多模态定位***、方法及装置
CN115617079B (zh) * 2022-12-14 2023-02-28 四川轻化工大学 一种可交互无人机***

Family Cites Families (8)

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Publication number Priority date Publication date Assignee Title
FR1350054A (fr) 1962-12-11 1964-01-24 Dispositif de stockage pour éléments pesants de grande longueur
FR3000813B1 (fr) * 2013-01-04 2016-04-15 Parrot Drone a voilure tournante comprenant des moyens de determination autonome de position dans un repere absolu lie au sol.
US10114384B2 (en) 2016-09-13 2018-10-30 Arrowonics Technologies Ltd. Formation flight path coordination of unmanned aerial vehicles
US11314245B2 (en) 2016-11-13 2022-04-26 Intel Corporation Aerial display morphing
EP3352041A1 (fr) 2017-01-20 2018-07-25 Ars Electronica Linz GmbH & Co KG Système de fourniture d'une présentation aérienne visuelle
CN108153327B (zh) 2017-12-07 2020-05-19 浙江大学 一种四旋翼飞行器室外编队灯光表演***及控制方法
CN108170159A (zh) 2017-12-20 2018-06-15 江苏数字鹰科技股份有限公司 无人机空中显示图案及视频的方法
US10534068B2 (en) * 2018-12-27 2020-01-14 Intel Corporation Localization system, vehicle control system, and methods thereof

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Publication number Publication date
FR3100895A1 (fr) 2021-03-19
WO2021048500A1 (fr) 2021-03-18

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