CN108628327A - A kind of Navigation of Pilotless Aircraft device based on ultra-wideband communications - Google Patents

Abstract

A UAV navigation device based on ultra-wideband communication disclosed by the present invention includes an airborne positioning part arranged on the UAV and an ultra-wideband positioning part connected to the airborne positioning part, and the ultra-wideband positioning part is connected to the ground control system . Through the above-mentioned technical solution, the present invention solves the problem of unmanned aerial vehicle in the case of no satellite signal in the actual application, and the unmanned aerial vehicle can still realize autonomous take-off, autonomous landing, precise positioning, fixed-height hovering, fixed-point, autonomous navigation flight, etc. function, to ensure that the plane does not crash or explode, and uses nano-time pulses for communication, high transmission rate, low transmission power, low signal power spectral density, strong anti-interference performance, and accuracy of centimeters, so that the drone can be used indoors or In the absence of satellites, you can know your exact spatial position in real time.

Description

A UAV navigation device based on ultra-wideband communication

technical field

The invention relates to the field of unmanned aerial vehicle navigation, in particular to an unmanned aerial vehicle navigation device based on ultra-wideband communication.

Background technique

Due to the rapid development of drone technology and artificial intelligence in recent years, drones have become smarter and more widely used. UAVs need to obtain real-time spatial location information during takeoff and landing and autonomous navigation. Traditionally, in open outdoor conditions, GPS/Beidou navigation systems can be relied on to obtain location information, making UAVs take off and land safely and autonomously. However, how to take off smoothly, fly autonomously, accurately determine altitude and hover in a complex environment or when the satellite signal is lost in a large indoor place has become a key problem that we need to solve, so we need to find a set of other auxiliary wireless Human-machine navigation and positioning device.

In traditional research and practice, most of them use ultrasonic positioning, infrared positioning and visual positioning, while the distance of ordinary ultrasonic itself is only about 5 meters, which also determines the limitation of use. In terms of visual positioning, its research object Mainly images and videos, with huge amount of data, a lot of redundant information, and high dimensionality of feature space. When designing a universal feature extraction algorithm, the requirements for the computing power and storage speed of the flight controller are very huge, resulting in Greatly increased development costs.

Contents of the invention

Aiming at the shortcomings of the prior art, the present invention provides a UAV navigation device based on ultra-wideband communication.

The technical scheme that realizes the object of the present invention is:

An unmanned aerial vehicle navigation device based on ultra-wideband communication, including an airborne positioning part arranged on the unmanned aerial vehicle and an ultra-wideband positioning part connected with the airborne positioning part, and the ultra-wideband positioning part is connected with a ground control system; wherein:

The airborne positioning part includes an aircraft control module and an inertial measurement module, an optical current sensing module, a data communication module and a servo control module respectively connected to the aircraft control module;

The ultra-wideband positioning part includes a central processing unit and a display module connected to the central processing unit, a button module, an ultra-wideband radio frequency module and an SPI bus interface, and the ultra-wideband radio frequency module is connected with an ultra-wideband antenna;

The ground control system includes a digital transmission receiver and a data storage and processing module, a control operation module and a display module respectively connected to the digital transmission receiver, and the data storage and processing module is connected to the control operation module.

The ultra-wideband positioning part is a ground navigation part, that is, 3 or more than 3 are set in the flight area, and are used to cooperate with the ultra-wideband positioning equipment of the airborne positioning part to complete the ranging work and obtain the current altitude of the drone in real time. precision coordinates.

The flight control module is composed of an ARM processor, and the ARM processor is connected with the ultra-wideband positioning part, the optical flow sensor module, the inertial measurement module, the data communication module, and the servo control module; the real-time coordinates obtained by the ultra-wideband positioning part, The height obtained by the optical flow sensing module and the speed, acceleration and attitude information obtained by the inertial measurement module are fused and processed to obtain the current position of the UAV, and then compared with the preset route to analyze the next step control command of the UAV. The control module changes the speed of each propeller motor, controls the flight attitude of the UAV and plans the flight trajectory; finally, the position information of the UAV and the acquired mission information are transmitted to the ground navigation part through the data communication module.

The inertial measurement module is composed of an accelerometer sensor and a gyroscope sensor. The accelerometer sensor and the gyroscope sensor are connected to the flight control module through a data interface. The inertial measurement module is used to obtain the current flight speed, acceleration, and attitude of the unmanned aerial vehicle. Angle, angular velocity, pitch angle, yaw angle and roll angle information, and directly input the above information into the aircraft control module in real time through the data interface.

The optical flow sensing module is composed of an optical flow sensor and a barometer sensor, and is connected with the flight control module of the UAV to obtain real-time flight height information of the UAV, and directly transmit the height information to the aircraft control module .

The data communication module adopts the communication mode of wireless transmission, and is composed of a pair of data transmission, the transmitter of the data transmission is connected with the flight control unit, and the receiver of the data transmission is connected with the ground navigation part; it is mainly used to be responsible for the ground control subsystem Data exchange and transmission with drones.

The servo control module is connected with the flight control module and the propeller. After receiving the control command, the flight control module controls the flight attitude and planned track of the UAV by changing the speed of each propeller motor.

The central processing unit adopts an ARM processor, which is the main control circuit of the ultra-wideband positioning part.

The display module adopts a character liquid crystal display module, which is used to display the flight distance information of the drone, the real-time position information of the drone and the preset target position information.

The button module is used to pre-set the position coordinate information of the flying target of the drone.

The ultra-wideband radio frequency module and the ultra-wideband antenna are connected to each other for receiving and sending radio signals, and a beacon packet is sent through the ultra-wideband radio frequency and the ultra-wideband antenna part, and the beacon packet is used to let the airborne equipment search where it is currently The coverage of several positioning base stations; it is used for ranging and transmitting wireless data in a specified format at the same time. The positioning base station determines the real-time coordinate position M(x, y, z).

The SPI bus interface, the UAV coordinate position information determined after the ARM processor circuit is processed, is input into the flight control unit through the bus, and cooperates with the inertial measurement unit to correct the inertial measurement unit system error; the flight control unit passes through Adjust the propeller circuit to adjust the direction of travel of the drone in real time.

The data transmission receiver is connected with the data storage module for receiving the data information monitored by the UAV.

The data storage and processing module is respectively connected with the data transmission receiver and the control operation module, and is used to receive the data sent by the UAV flight control module, and send the data to the control operation module after processing.

The display module is connected with the digital receiver, and a PC or a smart handheld terminal is used to display the real-time flight parameters (health status, flight data, and alarm information) of the UAV, position information and data information obtained during the operation. .

The control operation module is connected with the digital receiver and the display module, and sends a control command when it is found that the flight parameters of the drone (health status of the drone, flight data, and warning information) are abnormal or when the route needs to be changed.

When the UAV is flying, the airborne ultra-wideband communication machine sends out radio signals through the ultra-wideband radio frequency and the ultra-wideband antenna part, and at the same time the wireless communication circuit sends commands to the anchor points of the wireless ultra-wideband communication machines on the ground. The anchor point of the broadband communication machine determines the distance between each wireless ultra-wideband communication machine anchor module and the UAV through the ARM processor according to the received commands and radio signals, and determines the real-time coordinate position M(x,y) of the UAV after processing ,z).

Through the above-mentioned technical solution, the present invention solves the problem of unmanned aerial vehicle in the case of no satellite signal in the actual application, and the unmanned aerial vehicle can still realize autonomous take-off, autonomous landing, precise positioning, fixed-height hovering, fixed-point, autonomous navigation flight, etc. function, to ensure that the plane does not crash or explode. The airborne ultra-wideband positioning device does not use traditional cosine carrier signals, but uses nanometer pulses for communication. It has high transmission rate, low transmission power, low signal power spectral density, and strong anti-interference performance. , the accuracy reaches the centimeter level, so that the drone can know its own accurate spatial position in real time when the drone is indoors or without satellites, ensuring that the drone can fly along the pre-planned path, autonomously fly, take off and land safely , High-precision positioning and cruising effect, the ultra-wideband positioning device is simple in structure, adopts a miniature ultra-wideband communication chip, small in size and light in weight, and is suitable for loading on small aircraft such as drones.

Description of drawings

Fig. 1 is a structural block diagram of an embodiment of the present invention;

Fig. 2 is a structural block diagram of the airborne positioning part;

Fig. 3 is a structural block diagram of the UWB positioning part;

Fig. 4 is a structural block diagram of the ground control system;

Figure 5 is a schematic diagram of the connection structure of the onboard equipment of the UAV.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments, but the present invention is not limited thereto.

Example:

As shown in Figure 1: a UAV navigation device based on ultra-wideband communication, which consists of an airborne positioning part set on the UAV, an ultra-wideband positioning anchor point I, a positioning anchor point II, and a positioning anchor point placed in the flight area. The anchor point III, the positioning anchor point IV and the ground control system set on the ground are composed. The ground control system is connected with the ground ultra-broadband positioning anchor point I, where:

As shown in Figure 2, the ultra-broadband positioning part 1, the optical flow sensing module 2, the inertial measurement module 3, the aircraft control module 4, the data communication module 5, and the servo control unit 6 form a complete airborne navigation flight controller.

The flight control module 4 is composed of an ARM processor, and the ARM processor is connected with the ultra-wideband positioning part 1, the optical flow sensing module 2, the inertial measurement module 3, the data communication module 5, and the servo control module 6; the ultra-wideband positioning part 1 The obtained real-time coordinates, the altitude obtained by the optical flow sensing module 2, and the speed, acceleration, and attitude information obtained by the inertial measurement module 3 are fused and processed to obtain the current position of the UAV, and then analyze the UAV by comparing it with the preset route. The next step is to control the command, through the servo control module 6, change the speed of each propeller motor, control the flight attitude and plan the flight trajectory of the UAV; finally, the position information of the UAV and the obtained task information are transmitted to the UAV through the data communication module 5. ground control system;

Inertial measurement module 3 is made up of accelerometer sensor, gyroscope sensor, and accelerometer sensor, gyroscope sensor are connected with flight control module 4 through data interface, and inertial measurement module 3 is used for obtaining the current flight speed, acceleration, attitude angle, angular velocity, pitch angle, yaw angle and roll angle information, and directly input the above information into the aircraft control module 4 in real time through the data interface;

The optical flow sensing module 2 is composed of an optical flow sensor and a barometer sensor, and is connected with the flight control module 4 of the UAV to obtain the real-time flight height information of the UAV, and directly transmit the height information to the aircraft control module 4;

The data communication module 5 adopts the communication mode of wireless transmission, and is composed of a pair of data transmission, the transmitter of the data transmission is connected with the flight control module 4, and the receiver of the data transmission is connected with the ground control system; Data exchange and transmission between drones;

The servo control module 6 is connected with the flight control module 4 and the propeller. After the flight control module 4 receives the control command, it controls the flight attitude and planned track of the UAV by changing the speed of each propeller motor.

As shown in Figure 3, the ultra-wideband positioning part 1 is the ground navigation part, that is, three or more positioning anchor points are set in the flight area, and are used to cooperate with the ultra-wideband positioning equipment of the airborne positioning part to complete the ranging work. Get the current high-precision coordinates of the drone in real time. The ultra-wideband positioning part 1 includes an ARM processor 1-3 and a character liquid crystal display module 1-2 connected to the ARM processor 1-3, a key module 1-1, an ultra-wideband radio frequency module 1-5 and an SPI bus interface 1- 6. The ultra-wideband radio frequency module 1-5 is connected to the ultra-wideband antenna 1-4, wherein:

Central processing unit: composed of STM321F105 processor circuit, which is the main control circuit of the ultra-wideband positioning part;

Character liquid crystal display module: composed of 2-line LCD ASCII character liquid crystal display circuit, used to display the flight distance information of the drone, the real-time position information of the drone and the preset target position information;

Button module: used to pre-set the position coordinate information of the UAV flight target;

The ultra-wideband radio frequency module and the ultra-wideband antenna are connected to each other for receiving and sending radio signals, and the beacon packet is sent through the ultra-wideband radio frequency and the ultra-wideband antenna part. The beacon packet is used to let the airborne equipment search for the current location Positioning the coverage of the base station; at the same time, it is used for ranging and transmitting wireless data in a specified format while measuring the distance. The positioning base station determines the real-time coordinate position M(x,y, z).

SPI bus interface: The UAV coordinate position information determined by the ARM processor circuit is input to the flight control unit through the bus, and it works with the inertial measurement unit to correct the system error of the inertial measurement unit; the flight control unit then adjusts the propeller The circuit adjusts the direction of travel of the drone in real time.

As shown in Figure 4, the ground control system consists of a digital receiver, a data processing module, a data storage module, an integrated business control module and a display module.

The data transmission receiver is connected with the data processing module, and is used to receive the data information monitored by the UAV and the flight status information of the UAV.

The data saving module is connected with the data processing module, and is used for saving the data information of the UAV flight process monitoring in real time.

The display module is connected with the digital receiver, and a PC or a smart handheld terminal is used to display the real-time flight parameters (health status, flight data, and alarm information) of the UAV, position information and data information obtained during the operation.

The integrated service network is composed of flight console, mission planning seat, and link control seat. The integrated service network is connected to the data processing module. ) to send a link control command when an exception occurs or when a task needs to be changed.

As shown in Figure 5, there is a bracket on the top of the UAV, and the device is fixed on the bracket. This kind of placement is convenient for disassembly and installation, and the communication signal is not easily disturbed;

The flight controller module 4 and the inertial measurement module 3 are fixed in the middle of the bracket, and the flight speed, acceleration, angular velocity, position, pitch angle, yaw angle and roll angle information are obtained through the inertial measurement module 3;

A downward convex groove is fixed under the UAV, and a hook for fixing the optical flow sensing module 2 is provided on the convex groove, and the flying height information of the UAV is obtained through the optical flow sensing module 2;

The flight controller module 4 processes the speed, acceleration, and attitude information obtained from ultra-wideband positioning coordinates, optical flow sensing height, and inertial measurement to obtain the current position of the UAV, and then compares and calculates the UAV with the preset route to analyze the UAV. Next step control instruction.

When positioning and navigating in the present invention, firstly, the coordinates E(xo, yo, zo) of the flying target of the drone are set through the keyboard, and are transmitted to the airborne ultra-wideband communication module through the wireless communication circuit. When the UAV is flying, while the airborne UWB communication machine sends out radio signals, it sends and receives commands to each wireless UWB communication machine anchor module through the wireless communication circuit, and the three UWB communication machine anchor modules that are not on the same straight line According to the received command and radio signal, the ARM processor circuit calculates and determines the distance between each wireless ultra-wideband communication anchor module and the UAV, and transmits it to the airborne ultra-wideband communication module through the wireless communication circuit. The ARM processor circuit of the airborne ultra-wideband communication module determines the real-time coordinate position M (x, y, z) of the UAV after processing the obtained data.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.

Claims (9)

1. a kind of Navigation of Pilotless Aircraft device based on ultra-wideband communications, it is characterized in that：It is airborne fixed including what is be arranged on unmanned plane Bit position and the ultra wide band position portion being connect with airborne position portion, ultra wide band position portion are connect with ground control system； Wherein：

The airborne position portion includes flying vehicles control module and the inertia measurement mould being connect respectively with flying vehicles control module Block, light stream sensing module, data communication module and servo control module；

The ultra wide band position portion includes central processing unit and the display module being connect respectively with central processing unit, button mould Block, ultra-wide band radio-frequency module and spi bus interface, ultra-wide band radio-frequency module are connect with ultra-wideband antenna；

The ground control system includes that data transmission receiver and the data being connect respectively with data transmission receiver preserve processing module, control Operation module processed and display module, data preserve processing module and are connect with control and operation module.

2. Navigation of Pilotless Aircraft device according to claim 1, it is characterized in that：The ultra wide band position portion is area navigation Part, i.e., setting 3 or 3 or more in flight range, has coordinated for the ultra wide band positioning device with airborne position portion It works at ranging, obtains the current high-precision coordinate of unmanned plane in real time.

3. Navigation of Pilotless Aircraft device according to claim 1, it is characterized in that：The flight control modules, by arm processor Composition, arm processor and ultra wide band position portion, light stream sensing module, inertia measuring module, data communication module, servo control Molding block is connected；Real-time coordinates, the height of light stream sensing module acquisition, the inertia measurement mould that ultra wide band position portion is obtained Speed that block obtains, acceleration, posture information fusion are handled, and obtain unmanned plane current location, then by with default course line Operation is compared, analysis unmanned plane next step control instruction changes the rotating speed of each propeller motor by servo control module, Control the flight attitude and planning flight path of unmanned plane；Finally by data communication module by the location information of unmanned plane, obtain The mission bit stream taken sends area navigation part to.

4. Navigation of Pilotless Aircraft device according to claim 1, it is characterized in that：The inertia measuring module, by accelerometer Sensor, gyro sensor composition, acceierometer sensor, gyro sensor pass through data-interface and flight control modules Be connected, inertia measuring module be used to obtain the current flight speed of unmanned plane, acceleration, attitude angle, angular speed, pitch angle, Angle of drift and rolling angle information, and directly information above is input in real time in flying vehicles control module by data-interface.

5. Navigation of Pilotless Aircraft device according to claim 1, it is characterized in that：The light stream sensing module, is sensed by light stream Device, air pressure flowmeter sensor composition, are connected with the flight control modules of unmanned plane, the real-time flight height for obtaining unmanned plane Information directly sends elevation information to flying vehicles control module.

6. Navigation of Pilotless Aircraft device according to claim 1, it is characterized in that：The data communication module is passed using wireless Defeated communication pattern is made of logarithm biography, and the transmitter that number passes is connect with flight control units, the receiver and ground that number passes Navigational portions connect；It is mainly used for being responsible for the data exchange between ground control subsystem and unmanned plane and transmission.

7. Navigation of Pilotless Aircraft device according to claim 1, it is characterized in that：The servo control module is controlled with flight Module is connected with propeller, after flight control modules receive control instruction, by changing the rotating speed of each propeller motor, control The flight attitude and planning flight path of unmanned plane processed.

8. Navigation of Pilotless Aircraft device according to claim 1, it is characterized in that：The ultra-wide band radio-frequency module and ultra wide band day Line is connected with each other, and for sending and receiving radio signal, beacon packet is sent by ultra-wide band radio-frequency and ultra-wideband antenna part, The beacon packet is used for that airborne equipment is allowed to search the coverage area for being currently in which locating base station；Simultaneously for ranging and The wireless data of prescribed form is transmitted while ranging, locating base station determines nobody according to the beacon packet received after processing The real-time coordinates position M (x, y, z) of machine.

9. Navigation of Pilotless Aircraft device according to claim 1, it is characterized in that：The data preserve processing module respectively with number Pass receiver, control and operation module connection, for receive UAV Flight Control module transmission data, and to data at Control and operation module is sent to after reason.