CN106646485A - Unmanned aerial vehicle positioning system with integrated electromechanical distance measurement - Google Patents
Unmanned aerial vehicle positioning system with integrated electromechanical distance measurement Download PDFInfo
- Publication number
- CN106646485A CN106646485A CN201611153799.3A CN201611153799A CN106646485A CN 106646485 A CN106646485 A CN 106646485A CN 201611153799 A CN201611153799 A CN 201611153799A CN 106646485 A CN106646485 A CN 106646485A
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- Prior art keywords
- unmanned plane
- image
- subsystem
- base station
- positioning
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses an unmanned aerial vehicle positioning system with integrated electromechanical distance measurement, comprising: an unmanned aerial vehicle, a surface signal transceiving base station, a server and a three-dimensional modeling device; the unmanned aerial vehicle, the surface signal transceiving base station, the server and the three-dimensional modeling device form the unmanned aerial vehicle positioning system; an unmanned aerial vehicle positioning measurement system comprises an image positioning subsystem, a distance positioning subsystem, a central processing unit and a position adjustment control subsystem, the image positioning subsystem takes images for the environment around the unmanned aerial vehicle, the images acquired are used as basis for position locating; by combining near-range image and distance, the unmanned aerial vehicle positioning system with integrated electromechanical distance measurement positions the unmanned aerial vehicle, experiences little signal disturbance, and provides accurate positioning.
Description
Technical field
The present invention relates to electromechanical integration technology area, the unmanned plane under specially a kind of electromechanical integration range measurement is determined
Position system.
Background technology
Existing unmanned plane is more by means of GPS system positioning, because GPS system is a satellite time service system, positioned at height
Empty satellite carries out unified broadcast type time service, carries out multiple satellite time transfer times by receiver and is calculated, and then draws
Corresponding position data, and because the gps signal that transmission range, is generally possible to receive too far is all with milliwatt calculating, institute
It is easy to be shielded with gps signal, some common materials, such as the impact to electromagnetic signal such as metal, water body is the most serious,
Blocked up cement wall can also produce shield effectiveness, so just can guarantee that what is received continues reliable satellite letter in outdoor application
Number.When unmanned plane is used indoors, then cannot position by GPS system.Simultaneously because GPS receiver system is in order to as far as possible
Small-signal is received, thus it is very sensitive to signal, the shadow of incoherent electromagnetic signal and noise is also easily subject in use
Ring, for this purpose, we have proposed the unmanned plane alignment system under a kind of electromechanical integration range measurement.
The content of the invention
It is an object of the invention to provide the unmanned plane alignment system under a kind of electromechanical integration range measurement, with solution
State propose in background technology because GPS receiver system is in order to receive as far as possible small-signal, so very sensitive to signal,
Hold susceptible problem in use.
For achieving the above object, the present invention provides following technical scheme：Nobody under a kind of electromechanical integration range measurement
Machine alignment system, including：Unmanned plane, ground signal transceiver base station, server and three-dimensional modeling apparatus, the unmanned plane, ground
Signal transmitting and receiving base station, server and three-dimensional modeling apparatus composition unmanned plane alignment system；
Unmanned plane：The positioning measurment system of unmanned plane includes that framing subsystem, Distance positioning subsystem, central authorities are processed
Device and position adjustment control subsystem, framing subsystem is carried out shooting and obtains image to the environment around unmanned plane, is led to
Cross one of the basis that the image for obtaining carries out as position positioning, Distance positioning subsystem determine around barrier and distance
The height on ground as unmanned plane positioning measurement one of basis, central regulator of the central processing unit as unmanned aerial vehicle control system
Leading role is played in device, the control to unmanned plane, and the transmission and reception to signal carries out judgement process, position adjustment control
System plays the state of flight and flight path of regulation and control unmanned plane and is regulated and controled, and position adjustment control subsystem passes through control machine
The rotating speed of the motor on the wing controls unmanned plane during flying posture and flight path with torque, and central processing unit shoots unmanned plane
Image and the Distance Transmission for measuring are to ground signal transceiver base station；
Ground signal transceiver base station：Ground signal transceiver base station includes signal transmitting and receiving unit, and ground signal transceiver base station connects
The shooting image and the position data of measurement of the unmanned plane transmission that central processing unit sends are received, ground signal transceiver base station is used as number
According to terminal, play a part of signal receive and transmit；
Server：Used as the connection hinge of network transmission in alignment system, ground signal received and dispatched base to server by server
The shooting image and the position data of measurement that station sends is converted to electric signal, and by electric signal transmission to three-dimensional modeling apparatus；
Three-dimensional modeling apparatus：Three-dimensional modeling apparatus include graphics processing unit, 3 d modeling system, computer system and show
Display screen, graphics processing unit is processed the view data of server transport, and the image after process passes through 3 d modeling system
Three-dimensional modeling is carried out, 3 d modeling system is built in computer system, is shown by display screen after modeling.
Preferably, described image positioning subsystem includes camera, and the camera electrically exports connection IMAQ list
Unit, described image collecting unit electrically exports connection picture and text converting unit, and the picture and text converting unit electrically exports connection figure picture
Acquisition Processor, described image Acquisition Processor electrically exports connection image storage unit.
Preferably, the camera quantity is six groups of identical, and six groups of cameras are respectively arranged in four groups of machines of unmanned plane
The outer end of the wing and the top and bottom of unmanned plane center.
Preferably, the Distance positioning subsystem includes ultrasonic transmitter-receiver, the electrical company of output of the ultrasonic transmitter-receiver
Date Conversion Unit is connect, the Date Conversion Unit electrically exports connection Distance positioning processor, the Distance positioning processor
Electrically output connects timing computing unit, and the timing computing unit electrically exports connection apart from memory cell, and the distance is deposited
Storage unit electrically exports connection shaping circuit, and the shaping circuit electrically exports connection A/D converting units, and the A/D conversions are single
First electrically output connection single-chip microcomputer.
Preferably, the adjustment control subsystem includes control circuit and electronics speed regulator, and the electronics rotating speed is adjusted
The quantity of section device is four groups, and four groups of electronics speed regulators correspond to respectively the motor on four groups of wings of unmanned plane.
Compared with prior art, the invention has the beneficial effects as follows：Unmanned plane positioning under the electromechanical integration range measurement
System, positions by way of both in-plant image and distance are combined to unmanned plane, is disturbed less by signal, fixed
Position is more accurate.
Description of the drawings
Fig. 1 is signal transmission route map of the present invention；
Fig. 2 is unmanned aerial vehicle control system figure figure of the present invention；
Fig. 3 is framing subsystem theory diagram of the present invention；
Fig. 4 is Distance positioning subsystem theory diagram of the present invention.
In figure：1 unmanned plane, 2 ground signal transceiver base stations, 3 servers, 4 three-dimensional modeling apparatus, 5 framing subsystems,
51 cameras, 52 image acquisition units, 53 picture and text converting units, 54 image acquisition and processing devices, 55 image storage units, 6 distances
Positioning subsystem, 61 ultrasonic transmitter-receivers, 62 Date Conversion Units, 63 Distance positioning processors, 64 timing computing units, 65 away from
From memory cell, 66 shaping circuits, 67A/D converting units, 68 single-chip microcomputers, 7 central processing units, 8 position adjustment control subsystems.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
According to background technology proposed " because GPS receiver system is in order to receive as far as possible small-signal, thus to letter
It is number very sensitive, easily impacted in use " light stream camera targeting scheme needs and camera lens to reference object (such as ground)
Distance combines, and common solution is realized by increasing the equidistant measurement assembly of ultrasonic sensor, by distance value with
The pixel of picture frame carries out Comprehensive Comparison, and range measurement accuracy in combination with camera is focused is improved, so as to be flown
The elements of a fix of device.
Fig. 1-4 are referred to, the present invention provides a kind of technical scheme：A kind of unmanned plane under electromechanical integration range measurement is determined
Position system, including：Unmanned plane 1, ground signal transceiver base station 2, server 3 and three-dimensional modeling apparatus 4, unmanned plane 1, ground signal
Transceiver base station 2, server 3 and three-dimensional modeling apparatus 4 composition unmanned plane alignment system；
Unmanned plane 1：The positioning measurment system of unmanned plane 1 includes framing subsystem 5, Distance positioning subsystem 6, central authorities
Processor 7 and position adjustment control subsystem 8, framing subsystem 5 carries out shooting acquisition to the environment around unmanned plane 1
Image, by the image for obtaining one of basis as position positioning is carried out, and Distance positioning subsystem 6 determines the barrier of surrounding
And apart from ground height as the positioning measurement of unmanned plane 1 one of basis, central processing unit 7 is as the control of unmanned plane 1
Leading role is played in the central regulator device of system, the control to unmanned plane 1, and the transmission and reception to signal carries out judgement process,
Position adjustment control subsystem 8 plays the state of flight and flight path of regulation and control unmanned plane 1 and is regulated and controled, position adjustment control
Subsystem 8 controls the flight attitude of unmanned plane 1 and flight path, centre by the rotating speed of the motor on control wing with torque
The image that reason device 7 shoots unmanned plane 1 and the Distance Transmission for measuring are to ground signal transceiver base station 2；
Ground signal transceiver base station 2：Ground signal transceiver base station 2 includes signal transmitting and receiving unit, ground signal transceiver base station 2
Receive the shooting image and the position data of measurement of the transmission of unmanned plane 1 that central processing unit 7 sends, ground signal transceiver base station 2
As the terminal of data, play a part of signal and receive and transmit；
Server 3：Used as the connection hinge of network transmission in alignment system, server 3 receives and dispatches ground signal to server 3
The shooting image and the position data of measurement that base station 2 sends is converted to electric signal, and by electric signal transmission to three-dimensional modeling apparatus
4；
Three-dimensional modeling apparatus 4：Three-dimensional modeling apparatus 4 include graphics processing unit, 3 d modeling system, computer system and
Display screen, graphics processing unit is processed the view data that server 3 is transmitted, and the image after process passes through three-dimensional modeling system
System carries out three-dimensional modeling, and 3 d modeling system is built in computer system, is shown by display screen after modeling.
Wherein, framing subsystem 5 includes camera 51, gathers image, and camera 51 electrically adopt by output connection figure picture
Collection unit 52, the IMAQ that camera 51 is shot, electrically output connects picture and text converting unit 53 to image acquisition units 52, will
The image for collecting is converted to data message, and electrically output connection figure, as Acquisition Processor 54, plays tune to picture and text converting unit 53
Control is acted on, and electrically output connects image storage unit 55 to image acquisition and processing device 54, view data is stored, the quantity of camera 51
For six groups of identical, and six groups of cameras 51 are respectively arranged in the outer end of 1 four groups of wings of unmanned plane and the top of the center of unmanned plane 1
Portion and bottom, for the information around unmanned plane 1 carries out omnibearing collection, Distance positioning subsystem 6 includes ultrasonic transmission/reception
Device 61, used as the hardware of range determination, electrically output connects Date Conversion Unit 62 to ultrasonic transmitter-receiver 61, and range information is turned
Data-signal is changed to, electrically output connects Distance positioning processor 63 to Date Conversion Unit 62, and Distance positioning processor 63 is electrical
Output connection timing computing unit 64, electrically output connects apart from memory cell 65 timing computing unit 64, apart from memory cell
65 electrically export connection shaping circuit 66, and shaping circuit 66 electrically exports connection A/D converting units 67, and A/D converting units are electrical
Output connection single-chip microcomputer 68, adjustment control subsystem 8 includes control circuit and electronics speed regulator, is reached by adjusting electric current
The effect of rotating speed is adjusted, the quantity of electronics speed regulator is four groups, and four groups of electronics speed regulators correspond to respectively unmanned plane 1
Motor on four groups of wings, the motor speed separate regulation on four groups of wings reaches the adjustable effect of four groups of rotating speeds.
Operation principle：During unmanned plane 1 flies, camera 51 and ultrasonic transmitter-receiver 61 are clapped surrounding in real time
Image and measurement distance are taken the photograph, and the distance of the image of shooting and measurement is issued to into ground signal transceiver base station 2, ground signal is received
Send out base station 2 and the information is exported into the graphics processing unit into three-dimensional modeling apparatus 4 by server 3, graphics processing unit will
The view data of the transmission of server 3 is processed, and the image after process carries out three-dimensional modeling by 3 d modeling system, and three-dimensional is built
Modular system is built in computer system, is shown by display screen after modeling.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding can carry out various changes, modification, replacement to these embodiments without departing from the principles and spirit of the present invention
And modification, the scope of the present invention be defined by the appended.
Claims (5)
1. the unmanned plane alignment system under a kind of electromechanical integration range measurement, it is characterised in that include：Unmanned plane (1), ground
Signal transmitting and receiving base station (2), server (3) and three-dimensional modeling apparatus (4), the unmanned plane (1), ground signal transceiver base station (2),
Server (3) and three-dimensional modeling apparatus (4) composition unmanned plane alignment system；
Unmanned plane (1)：The positioning measurment system of unmanned plane (1) include framing subsystem (5), Distance positioning subsystem (6),
Central processing unit (7) and position adjustment control subsystem (8), framing subsystem (5) is to the environment around unmanned plane (1)
Carry out shooting and obtain image, one of basis as position positioning is carried out by the image for obtaining, Distance positioning subsystem (6) is surveyed
Barrier around fixed and apart from ground height as unmanned plane (1) positioning measurement one of basis, central processing unit (7)
Used as the central regulator device of unmanned plane (1) control system, leading role is played in the control to unmanned plane (1), the biography to signal
Defeated and reception carries out judgement process, and position adjustment control subsystem (8) plays the state of flight of regulation and control unmanned plane (1) and flight
Route is regulated and controled, and position adjustment control subsystem (8) controls nobody by the rotating speed of the motor on control wing with torque
Machine (1) flight attitude and flight path, the image that central processing unit (7) shoots unmanned plane (1) and the Distance Transmission for measuring are extremely
Ground signal transceiver base station (2)；
Ground signal transceiver base station (2)：Ground signal transceiver base station (2) includes signal transmitting and receiving unit, ground signal transceiver base station
(2) shooting image and the position data of measurement of unmanned plane (1) transmission that central processing unit (7) sends are received, ground signal is received
Base station (2) are sent out as the terminal of data, is played a part of signal and is received and transmit；
Server (3)：Used as the connection hinge of network transmission in alignment system, server (3) receives ground signal to server (3)
The position data sent out base station (2) shooting image for sending and measure is converted to electric signal, and by electric signal transmission to three-dimensional modeling
Device (4)；
Three-dimensional modeling apparatus (4)：Three-dimensional modeling apparatus (4) including graphics processing unit, 3 d modeling system, computer system and
Display screen, graphics processing unit is processed the view data that server (3) is transmitted, and the image after process passes through three-dimensional modeling
System carries out three-dimensional modeling, and 3 d modeling system is built in computer system, is shown by display screen after modeling.
2. the unmanned plane alignment system under a kind of electromechanical integration range measurement according to claim 1, it is characterised in that：
Described image positioning subsystem (5) includes camera (51), and electrically output connects image acquisition units to the camera (51)
(52), described image collecting unit (52) electrically output connection picture and text converting unit (53), picture and text converting unit (53) electricity
Property output connection figure as Acquisition Processor (54), the electrical output connection image storage unit of described image Acquisition Processor (54)
(55)。
3. the unmanned plane alignment system under a kind of electromechanical integration range measurement according to claim 2, it is characterised in that：
Camera (51) quantity is six groups of identical, and six groups of cameras (51) are respectively arranged in (1) four group of wing of unmanned plane
Outer end and the top and bottom of unmanned plane (1) center.
4. the unmanned plane alignment system under a kind of electromechanical integration range measurement according to claim 1, it is characterised in that：
The Distance positioning subsystem (6) includes ultrasonic transmitter-receiver (61), and electrically output connects number to the ultrasonic transmitter-receiver (61)
According to converting unit (62), the Date Conversion Unit (62) electrically output connection Distance positioning processor (63), the distance is determined
Bit processor (63) electrically output connection timing computing unit (64), the timing computing unit (64) electrically exports connection distance
Memory cell (65), it is described apart from memory cell (65) electrically output connection shaping circuit (66), shaping circuit (66) electricity
Property output connection A/D converting units (67), the A/D converting units electrically export connection single-chip microcomputer (68).
5. the unmanned plane alignment system under a kind of electromechanical integration range measurement according to claim 1, it is characterised in that：
Including control circuit and electronics speed regulator, the quantity of the electronics speed regulator is adjustment control subsystem (8)
Four groups, and four groups of electronics speed regulators correspond to respectively the motor on (1) four group of wing of unmanned plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201611153799.3A CN106646485A (en) | 2016-12-14 | 2016-12-14 | Unmanned aerial vehicle positioning system with integrated electromechanical distance measurement |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611153799.3A CN106646485A (en) | 2016-12-14 | 2016-12-14 | Unmanned aerial vehicle positioning system with integrated electromechanical distance measurement |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107493457A (en) * | 2017-09-06 | 2017-12-19 | 天津飞眼无人机科技有限公司 | A kind of unmanned plane monitoring system |
| CN109041592A (en) * | 2018-05-18 | 2018-12-18 | 北京小米移动软件有限公司 | Cellular network signals measurement method, device and computer readable storage medium |
| CN111492326A (en) * | 2017-12-21 | 2020-08-04 | Wing航空有限责任公司 | Image-based positioning for unmanned aerial vehicles and related systems and methods |
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| CN111492326A (en) * | 2017-12-21 | 2020-08-04 | Wing航空有限责任公司 | Image-based positioning for unmanned aerial vehicles and related systems and methods |
| CN111492326B (en) * | 2017-12-21 | 2024-04-19 | Wing航空有限责任公司 | Image-based positioning for unmanned aerial vehicles and related systems and methods |
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Application publication date: 20170510 |