CN106950989B - A kind of unmanned plane fixed point location method and system - Google Patents
A kind of unmanned plane fixed point location method and system Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- 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
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Abstract
The present invention relates to unmanned plane field of locating technology.The invention discloses a kind of unmanned plane fixed point location method and system, and wherein method includes four step positioning modes, firstly, carrying out thick step positioning by satellite, obtain slightly walking localization region；Secondly, carrying out fine positioning using infra-red intensity in slightly step localization region, fine positioning region is obtained；Then, more fine positioning is carried out using the laser for enclosing certain area in fine positioning region, obtains more fine positioning region；Finally, finally being positioned in more fine positioning region detection dot laser.Positioning accuracy of the invention is very high, and algorithm is simple, and calculation amount is few, and locating speed is fast, low to hardware performance requirements, greatly reduces cost.
Description
Technical field
The invention belongs to unmanned plane field of locating technology, more particularly to a kind of unmanned plane fixed point location method and system.
Background technique
Unmanned plane is that one kind is dynamic, controllable, can carry multiple-task equipment, executes multiple-task and can reuse
Aircraft.The not manned vehicle that can be controlled using wireless remote control device and the control device of itself, such as nobody
Helicopter, unmanned fixed-wing aircraft, unmanned parasol etc..It is widely used in the fields such as take photo by plane, monitor, investigate.
For the unmanned plane of full autonomous control, need to be automatically performed takeoff and landing, and in descent, it is main
Be how to be accurately positioned, most of existing unmanned plane is positioned using GPS, such as publication:
CN205958757U, but the positioning accuracy of GPS is not high enough, and error can achieve several meters, existing in order to improve unmanned plane positioning accuracy
In some using infrared carry out auxiliary positioning, such as publication: CN106371463A, also some assist using icon fixed
Position, although improving positioning accuracy to a certain extent, precision or not high enough is unable to satisfy and some needs high-precision fields
It closes, when needing to carry out wireless charging such as unmanned plane, then requires wireless charging transmitting module and wireless charging receiving module accurately right
Position could improve charge efficiency, in addition, existing unmanned plane is in order to improve setting accuracy, algorithm is complicated, computationally intensive.
Summary of the invention
It is an object of the invention to provide that a kind of positioning accuracy is very high, and algorithm is simple in order to solve the above problem, calculate
Measure few unmanned plane fixed point location method and system.
For this purpose, including the following steps: the invention discloses a kind of unmanned plane fixed point location method
S1, at fixed point be arranged infrared transmitting device and make infrared transmitting device with certain light emitting angle straight up
Emit infrared ray, laser beam emitting device is set at fixed point, and laser beam emitting device is made to emit collimation laser straight up, it is described
Collimation laser includes that a central point and one enclose the enclosing line of the central point in the projection pattern of horizontal plane, the central point and fixed
Point is located at same vertical line；
S2, unmanned plane are flown by satellite positioning to the thick step positioning area of fixed point top according to the satellite positioning coordinate of fixed point
Domain；
S3, unmanned plane detects the intensity of infrared ray in the slightly horizontal plane of step localization region, and flies to infra-red intensity most
Big region；
S4, unmanned plane detect the laser for enclosing line in the horizontal plane in the maximum region of infra-red intensity, and according to detection
The anticipation position of central point is determined to the laser for enclosing line；
S5, unmanned plane fly to the anticipation position of central point, in the laser of anticipation position detection central point；
S6, vertical landing is to pinpointing after unmanned plane detects the laser of central point, i.e. completion fixed point location.
Further, the satellite positioning module includes GPS positioning module or Beidou positioning module.
Further, infrared transmitting device is infrared light-emitting diode.
Further, the step S3 specifically: unmanned plane uses video camera or infrared receiving diode in the horizontal plane
The intensity of infrared ray is detected, and is flown to the maximum region of infra-red intensity.
Further, the enclosing line is circle, and the central point is located at the center point.
Further, in the step S4, unmanned plane detects in the horizontal plane in the maximum region of infra-red intensity to be enclosed
The laser of zygonema, and according to the anticipation position for detecting that the laser for enclosing line determines central point method particularly includes: unmanned plane exists
Rectilinear flight is carried out in the horizontal plane in the maximum region of infra-red intensity and detects laser, is swashed if point-blank detecting three
Luminous point, then point centered on intermediate laser point, determines the anticipation position of central point；If point-blank only detecting one
Or two laser points, then this one or two laser point is the laser for enclosing line, is converted by geometry, can determine central point
Anticipation position.
Further, the enclosing line is regular polygon, and the central point is located at the center of regular polygon.
The invention also discloses a kind of unmanned plane fixed point location systems for realizing above-mentioned unmanned plane fixed point location method
System, including the first positioning device at fixed point is arranged in and the second positioning device of unmanned plane is arranged in, the first positioning dress
It sets including the first satellite positioning module, infrared transmitting device and laser beam emitting device, second positioning device includes second
Satellite positioning module, infra-red intensity detection device and laser detector, first satellite positioning module are fixed for obtaining
The satellite positioning coordinate of point, the infrared transmitting device emit infrared ray, the laser with certain light emitting angle straight up
Emitter emits collimation laser straight up, and the collimation laser includes that a central point and one encloses in the projection pattern of horizontal plane
The enclosing line of the central point is closed, the central point and fixed point are located at same vertical line, and second satellite positioning module is for mentioning
For the satellite positioning coordinate of unmanned plane, intensity of the infra-red intensity detection device for the infrared ray in detection level face,
The laser detector is for detecting laser.
Advantageous effects of the invention:
Fixed point location is realized in present invention combination GPS positioning, infrared ray positioning and laser positioning, gradually reduces positioning model
It encloses, positioning accuracy is very high, and algorithm is simple, and calculation amount is few, and locating speed is fast, and it is low to hardware performance requirements, it realizes simply, significantly
It reduces costs.
Detailed description of the invention
Fig. 1 is the method flow diagram of the embodiment of the present invention；
Fig. 2 is that the infrared ray of the embodiment of the present invention emits schematic diagram；
Fig. 3 is projection pattern schematic diagram of the collimation laser in horizontal plane of the embodiment of the present invention；
Fig. 4 is projection pattern schematic diagram of the collimation laser in horizontal plane of other embodiments of the present invention；
Fig. 5 is projection pattern schematic diagram of the collimation laser in horizontal plane of other embodiments of the present invention；
Fig. 6 is the system structure diagram of the embodiment of the present invention.
Specific embodiment
Now in conjunction with the drawings and specific embodiments, the present invention is further described.
As shown in figure 1-3, a kind of unmanned plane fixed point location method, includes the following steps:
S1, setting satellite positioning module obtains the satellite positioning coordinate of fixed point B on the fixed point B of airplane parking area 1, this is specific real
It applies in example, satellite positioning module is GPS positioning module, certainly, in other embodiments, is also possible to big-dipper satellite positioning mould
Block, in some embodiments, if airplane parking area be it is fixed, can also not have to setting GPS positioning module, as long as setting shut down
Its GPS positioning coordinate is determined when level ground.
Infrared transmitting device is set at fixed point B and sends out infrared transmitting device straight up with certain light emitting angle
Infrared ray is penetrated, it is specific as shown in Fig. 2, the normal direction axis 3 and fixed point B of infrared ray 2 are on same vertical line, in this way, on fixed point B
In the horizontal plane (plane vertical with vertical line) of side, 2 maximum intensity of infrared ray in the region of fixed point B is faced.This is specific real
It applies in example, infrared transmitting device is infrared light-emitting diode.Light emitting angle can be selected according to actual needs, this is this
What field technical staff can realize easily, no longer it is described in detail.
Laser beam emitting device is set at fixed point B, and laser beam emitting device is made to emit collimation laser, the standard straight up
Straight laser includes that a central point and one enclose the enclosing line of the central point, the central point and fixed point in the projection pattern of horizontal plane
B is located at same vertical line.In this specific embodiment, the collimation laser horizontal plane projection pattern as shown in figure 3, including one
It is a it is circular enclose line 4 and positioned at the circular center of circle central point B ', central point B ' and fixed point B be located at same vertical line.Certainly,
In other embodiments, the enclosing line can be regular polygon, and the central point is located at the center of regular polygon, just polygon
Shape can be equilateral triangle and square as shown in Figure 4 and Figure 5, it is of course also possible to be regular pentagon, regular hexagon etc..
S2, unmanned plane are flown by GPS positioning to the thick step positioning area above fixed point B according to the GPS positioning coordinate of fixed point B
Domain (i.e. satellite positioning region), since GPS location precision is lower, error can achieve several meters, so slightly step localization region area
It is larger, also need further fine positioning.
S3, unmanned plane detects the intensity of infrared ray 3 in the slightly horizontal plane of step localization region, and flies to infra-red intensity most
Big region.
Specifically, unmanned plane detects the intensity of infrared ray using video camera or infrared receiving diode in the horizontal plane, and
Fly to the maximum region of infra-red intensity, detailed process are as follows: unmanned plane is mobile towards a direction in the horizontal plane and detects infrared
Line intensity changes direction flight if the infra-red intensity detected is less than the infra-red intensity of last position detection, if
The infra-red intensity detected is greater than the infra-red intensity of last position detection, then continues to fly towards former direction, until some position
It when setting, flies toward any direction, the infra-red intensity that the next position detects is less than the infra-red intensity of the position detection, then should
Position is the maximum region of infra-red intensity.This is that those skilled in the art can realize easily, is no longer described in detail.
But since infrared ray has the limit of accuracy property of certain diversity and infra-red intensity detection device, infrared ray
The region of maximum intensity does not face a point of fixed point B, the region with certain area, at this point, can't be accurate
Positioning.But this region is smaller than thick step localization region area, has further reduced orientation range.
S4, unmanned plane detect the laser for enclosing line in the horizontal plane in the maximum region of infra-red intensity, and according to detection
The anticipation position of central point is determined to the laser for enclosing line.
Specifically, detecting the laser for enclosing line using laser detector, in this specific embodiment, the area for enclosing line is excellent
Choosing is less than the area in the maximum region of infra-red intensity.
Method particularly includes: unmanned plane carries out rectilinear flight detection in the horizontal plane in the maximum region of infra-red intensity and swashs
Light as shown in figure 3, unmanned plane flies along straight line L1, then can detect three if point-blank detecting three laser points
It is a, respectively A, B ' and C, then point centered on intermediate laser point B ', so that it may determine the anticipation position of central point B '；Such as
Fruit point-blank only detects two laser points and successively detects point D and point if unmanned plane flies from left to right along straight line L2
E, and the distance for the range points D that flown out is greater than the diameter for enclosing line 4, then illustrates point D and point E is to enclose opposite on line 4 two
Then point is returned and is turned left flight along straight line L3 from the right side, detect and enclosing point G and point F on line, then by this four point D, E, G,
It can be converted by geometry with F, obtain the anticipation position of central point B '；If point-blank only detecting a laser point,
If unmanned plane flies from left to right along straight line L4, point H is detected, and the distance for the range points H that flown out is greater than the straight of enclosing line 4
Diameter then illustrates that point H is the point of contact for enclosing line 4 and straight line L4, then detects again and encloses the other points of line 4, it can passes through geometry
Conversion, obtains the anticipation position of central point B ', this is that those skilled in the art can realize easily, is no longer described in detail.
Line 4 is enclosed using first detection, then obtains the anticipation position of central point B ', central point B ' can be quickly found out, improved
Locating speed.
It is other regular polygon shapes for enclosing line 4, testing principle is similar with circle, this is those skilled in the art
It can realize, no longer be described in detail easily.
S5, unmanned plane fly to the anticipation position of central point, in the laser of anticipation position detection central point.Due to prejudging position
Range it is very small, in the laser of anticipation position detection central point B ', then speed is quickly.
In order to improve central point B ' laser detection accuracy, can make central point B ' laser intensity and enclose line 4
Laser intensity it is different, when the laser intensity using central point B ' and when enclosing the laser intensity difference of line 4, enclosing line 4 can be with
It is arbitrary shape, central point B ' can not also be in the central point for enclosing line 4, then, and unmanned plane is used to be swept line by line in enclosing line 4
The laser that flight carrys out inspection center point B ' is retouched, algorithm is simple, but detection time is longer.
S6, vertical landing is to pinpointing after unmanned plane detects the laser of central point B ', i.e. completion fixed point location.
Since laser is to project in one direction, the divergence of light beam is minimum, only about 0.001 radian, close parallel,
So the basic still dot laser of the laser of central point B ', faces fixed point B, at this point, unmanned plane vertical landing, it can precision approach
To fixed point B, it is very accurate to position.
Fixed point location is realized in present invention combination GPS positioning, infrared ray positioning and laser positioning, gradually reduces positioning model
It encloses, positioning accuracy is very high, and algorithm is simple, and calculation amount is few, and locating speed is fast, and it is low to hardware performance requirements, it realizes simply, significantly
It reduces costs.
As shown in fig. 6, the invention also discloses a kind of unmanned planes for realizing above-mentioned unmanned plane fixed point location method
Fixed point location system, including at fixed point 1 the first positioning device is arranged in and the second positioning device of unmanned plane 2, institute is arranged in
Stating the first positioning device includes the first satellite positioning module 11, infrared transmitting device 12, laser beam emitting device 14, master control molding
Block 13 and first communication module 15, first satellite positioning module 11, infrared transmitting device 12,14 and of laser beam emitting device
First communication module 15 is connect with main control module 13 respectively, second positioning device include the second satellite positioning module 21,
Infra-red intensity detection device 22, laser detector 24, second communication module 25 and unmanned plane main control module 23, described
Two satellite positioning modules 21, infra-red intensity detection device 22, laser detector 24 and second communication module 25 respectively with nothing
Man-machine main control module 23 connects, and first satellite positioning module 11 is used to obtain the satellite positioning coordinate of fixed point, described red
Outside line emitter 12 emits infrared ray with certain light emitting angle straight up, and the laser beam emitting device 14 emits straight up
Collimation laser, the collimation laser include that a central point and one enclose the enclosing line of the central point in the projection pattern of horizontal plane,
The central point and fixed point are located at same vertical line, and second satellite positioning module 21 is for providing the satellite positioning of unmanned plane
Coordinate, intensity of the infra-red intensity detection device 22 for the infrared ray in detection level face, the laser detector
24 for detecting laser, and the first communication module 15 is communicatively coupled with second communication module 25.Unmanned plane master control molding
Block 23 realizes unmanned plane fixed point location using above-mentioned fixed point location method by the first positioning device and the second positioning device.
Although specifically showing and describing the present invention in conjunction with preferred embodiment, those skilled in the art should be bright
It is white, it is not departing from the spirit and scope of the present invention defined by the appended claims, it in the form and details can be right
The present invention makes a variety of changes, and is protection scope of the present invention.
Claims (5)
1. a kind of unmanned plane fixed point location method, which comprises the steps of:
Infrared transmitting device is arranged at fixed point and emits infrared transmitting device straight up with certain light emitting angle by S1
Laser beam emitting device is arranged at fixed point, and laser beam emitting device is made to emit collimation laser, the collimation straight up for infrared ray
Laser includes that a central point and one enclose the enclosing line of the central point, the central point and fixed point position in the projection pattern of horizontal plane
In same vertical line；
S2, unmanned plane are flown by satellite positioning to the thick step localization region of fixed point top according to the satellite positioning coordinate of fixed point；
S3, unmanned plane detects the intensity of infrared ray in the slightly horizontal plane of step localization region, and flies maximum to infra-red intensity
Region；
S4, unmanned plane detects the laser for enclosing line in the horizontal plane in the maximum region of infra-red intensity, and encloses according to detecting
The laser of zygonema determines the anticipation position of central point, method particularly includes: the enclosing line is circle, and the central point is located at the center of circle
Place, unmanned plane carries out rectilinear flight detection laser in the horizontal plane in the maximum region of infra-red intensity, if in straight line
Three laser points of upper detection, then point centered on intermediate laser point, determines the anticipation position of central point；If in straight line
On only detect one or two laser point, then this one or two laser point is the laser for enclosing line, is converted by geometry, can be with
Determine the anticipation position of central point；
S5, unmanned plane fly to the anticipation position of central point, in the laser of anticipation position detection central point；
S6, vertical landing is to pinpointing after unmanned plane detects the laser of central point, i.e. completion fixed point location.
2. unmanned plane fixed point location method according to claim 1, it is characterised in that: the satellite positioning coordinate includes
GPS positioning coordinate or big-dipper satellite position coordinate.
3. unmanned plane fixed point location method according to claim 1, it is characterised in that: infrared transmitting device is infrared hair
Optical diode.
4. unmanned plane fixed point location method according to claim 1, which is characterized in that the step S3 specifically: nobody
Machine detects the intensity of infrared ray using video camera or infrared receiving diode in the horizontal plane, and flies maximum to infra-red intensity
Region.
5. a kind of unmanned plane fixed point location for realizing unmanned plane fixed point location method described in claim 1-4 any one
System, it is characterised in that: including the first positioning device at fixed point is arranged in and the second positioning device of unmanned plane, institute is arranged in
Stating the first positioning device includes the first satellite positioning module, infrared transmitting device and laser beam emitting device, second positioning
Device includes the second satellite positioning module, infra-red intensity detection device and laser detector, the first satellite positioning mould
Block is used to obtain the satellite positioning coordinate of fixed point, and the infrared transmitting device is emitted infrared straight up with certain light emitting angle
Line, the laser beam emitting device emit collimation laser straight up, and the collimation laser includes one in the projection pattern of horizontal plane
Central point and one enclose the central point enclosing line, the central point and fixed point be located at same vertical line, second satellite
Position module is for providing the satellite positioning coordinate of unmanned plane, and the infra-red intensity detection device is for red in detection level face
The intensity of outside line, the laser detector is for detecting laser.
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| CN112965516B (en) * | 2021-01-29 | 2022-03-22 | 涵涡智航科技(玉溪)有限公司 | High-precision aircraft guided landing system and method |
| CN112925333B (en) * | 2021-01-29 | 2022-04-15 | 涵涡智航科技(玉溪)有限公司 | High-precision aircraft guided landing system and method |
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