CN204594468U - Aircraft flight error correction device and unmanned vehicle - Google Patents
Aircraft flight error correction device and unmanned vehicle Download PDFInfo
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- CN204594468U CN204594468U CN201520315852.XU CN201520315852U CN204594468U CN 204594468 U CN204594468 U CN 204594468U CN 201520315852 U CN201520315852 U CN 201520315852U CN 204594468 U CN204594468 U CN 204594468U
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Abstract
The utility model discloses a kind of aircraft flight error correction device and unmanned vehicle, wherein aircraft flight error correction device comprises: the light stream sensing module generating aircraft rate signal, be located on aircraft, can sense aircraft height and take ground image continuously; Inertial navigation module, is located on aircraft; Correct the flight controller of flight error, be located on aircraft, connect described light stream sensing module and inertial navigation module, the signal data that both receptions are transmitted also carries out data processing, still can correct flight error in the environment that cannot be received at gps signal by the technical solution of the utility model, realize the precision navigation of aircraft.
Description
Technical field
The utility model relates to vehicle technology field, particularly relates to a kind of aircraft flight error correction device and unmanned vehicle.
Background technology
Along with the development of science and technology, unmanned plane during flying equipment starts the visual field entering people, is deep into the life of people gradually, improves the life of people.The range of application of unmanned plane during flying device is more and more wider, such as taking photo by plane, measure, the professional domain such as Disaster control and Real-Time Monitoring all has a wide range of applications.
Simultaneously, higher requirement be it is also proposed to the Navigation and localization precision of aircraft, at present, airmanship conventional in aircraft flight process mainly contains inertial navigation and satnav (GPS) navigation, and inertial navigation and GPS navigation combine and can realize aircraft Navigation and localization more accurately.
But, in some enclosure spaces, in the space that gps signal may be stopped and in the region that electromagnetic interference (EMI) is very strong, gps signal cannot normal transmission to aircraft, aircraft can only rely on merely inertial navigation technology to fly when can not receive gps signal, and inertial navigation technology is realized by integral principle, itself certainly exist certain error, and this error can accumulate increase gradually along with the prolongation of time, aircraft long-term navigation trueness error will be caused larger, so that in the environment that cannot receive at enclosure space or gps signal such as electromagnetic signal interference stronger region etc., to relatively large deviation be there is in the flight precision of aircraft, even cannot normally locate and fly.
In addition, owing to relying on merely inertial navigation will occur larger trueness error over time, so after each flight before second time flight, the initial calibration of long period all will be carried out, complex operation, time-consumingly to take a lot of work.
In view of the foregoing, the design people borrows its technical experience of association area and abundant professional knowledge for many years, continuous research and development improve, and through a large amount of practical proofs, propose the technical scheme of the utility model aircraft flight error correction device and unmanned vehicle.
Utility model content
The purpose of this utility model is to provide a kind of aircraft flight error correction device, still can correct flight error, realize the precision navigation of aircraft in the environment that gps signal cannot receive.
Another object of the present utility model is to provide a kind of unmanned vehicle, is provided with flight error apparatus for correcting of the present utility model, still can correct flight error, realize precision navigation in the environment that gps signal cannot receive.
To achieve these goals, the utility model provides a kind of aircraft flight error correction device, comprising: the light stream sensing module generating aircraft rate signal, is located on aircraft, can sense aircraft height and take ground image continuously; Inertial navigation module, is located on aircraft; Correct the flight controller of flight error, be located on aircraft, connect described light stream sensing module and inertial navigation module, the signal data that both receptions are transmitted also carries out data processing.
Preferably, above-mentioned aircraft flight error correction device, wherein, described light stream sensing module comprises: the camera head of shooting ground image continuously; The height sensor of sense aircraft height; Light stream module handler, connects described camera head and height sensor, and the signal of both receptions also carries out data processing, and described light stream module handler is connected to described flight controller, and to described flight controller transmission data.
Preferably, above-mentioned aircraft flight error correction device, wherein, described camera head is camera, has camera eyeglass and photo-sensitive cell, described camera eyeglass and photo-sensitive cell interval one focal length.
Preferably, above-mentioned aircraft flight error correction device, wherein, described height sensor is measure the ultrasonic range finder of described camera eyeglass to the height on ground.
Preferably, above-mentioned aircraft flight error correction device, wherein, described height sensor is laser range finder.
Preferably, above-mentioned aircraft flight error correction device, wherein, described light stream module handler is connected to described flight controller, and to described flight controller transmission aircraft rate signal data and aircraft displacement data.
To achieve these goals, the utility model additionally provides a kind of unmanned vehicle, is provided with aircraft flight error correction device of the present utility model.
Aircraft flight error correction device of the present utility model and unmanned vehicle at least have the following advantages and feature:
1, aircraft flight error correction device of the present utility model and based on its antidote without the need to by gps signal, the ground image obtaining shooting continuously in a period of time can be detected by light stream sensor, the mobile pixel count of same object in two width images is obtained by image procossing, and then determine the displacement of aircraft movement, aircraft rate value is obtained again by data processing, by the flight error of aircraft rate value and rectifiable inertial navigation, thus also can keep high-precision navigation in the environment that aircraft cannot be received at enclosure space or gps signal such as electromagnetic signal interference stronger region etc., normal location and flight.
2, aircraft flight error correction device of the present utility model and the antidote based on it can inspection image data process data in real time, rational sample frequency is set, enough sampling precisions can be ensured, thus real-time flight error rectification is carried out to aircraft, also to there will not be in prior art after flight a period of time and rely on inertial navigation and produce the problem of larger trueness error merely, again fly and also do not need to carry out long calibration operation, save time and manpower.
3, the parts such as light stream sensing module, inertial navigation module and flight controller and function are integrated by aircraft flight error correction device of the present utility model and unmanned vehicle, the modules division of labor is clear and definite, technology maturation, make the reliability of overall navigation high, stabilization of equipment performance is high, thus ensures high precision navigation.
4, simply, cost is low for aircraft flight error correction device of the present utility model and unmanned vehicle structure, and exploitativeness is strong, applied range.
Accompanying drawing explanation
Fig. 1 is the utility model aircraft flight error correction apparatus structure schematic diagram;
Fig. 2 is the antidote step schematic diagram of the utility model aircraft flight error correction device;
Fig. 3 is the utility model aircraft flight error correction device workflow schematic diagram;
Fig. 4 is that the utility model flight error antidote moves pixel distance and flight displacement ratio relation principle schematic diagram.
Main element label declaration:
10 aircraft
1 light stream sensing module
11 camera heads
111 camera eyeglasses
112 photo-sensitive cells
12 height sensors
13 light stream module handler
2 inertial navigation module
3 flight controllers
F focal length
H height
S pixel displacement
T interval time
V speed
The displacement of X aircraft
O object
Embodiment
For making the object of the utility model embodiment, technical scheme and advantage clearly, below in conjunction with accompanying drawing, specific embodiment is described in detail.
Please refer to Fig. 1, for the utility model aircraft flight error correction apparatus module schematic diagram, as shown in the figure, the utility model aircraft flight error correction device mainly comprises: light stream sensing module 1, be located on aircraft 10, light stream sensing module 1 can sense aircraft height and take ground image continuously, and carries out data processing and obtain aircraft rate signal and aircraft displacement signal; Inertial navigation module 2, is located on aircraft 10, for carrying out inertial navigation to aircraft 10; Flight controller 3, is located on aircraft 10, and connect light stream sensing module 1 and inertial navigation module 2, the signal data that both receptions are transmitted also carries out data processing, carries out flight error rectification to inertial navigation.
Further, light stream sensing module 1 also comprises camera head 11, height sensor 12 and light stream module handler 13, wherein: camera head 11 is for taking ground image continuously, it can be the camera of various different model, camera head 11 has camera eyeglass 111 and photo-sensitive cell 112 (combining with reference to figure 4), the spacing of camera eyeglass 111 and photo-sensitive cell 112 i.e. focal length are F, the imaging on photo-sensitive cell 112 by camera eyeglass 111 of ground object light, height sensor 12 is located on aircraft 10, for sense aircraft height H, camera eyeglass 111 is to the height H on ground specifically, height detecting device 12 can be ultrasonic range finder or laser range finder etc., this quasi-instrument kind is more and be routine techniques, and be not specifically limited, flying height person can be measured and all should belong to protection domain of the present utility model, light stream module handler 13 connects camera head 11 and height sensor 12, the signal of both receptions also carries out data processing, wherein, light stream module handler 13 receives the view data of camera head 11 and carries out image procossing, obtain the pixel displacement S of same object in the two width images of interval time T, the module handler of light stream simultaneously 13 receives the height H that height sensor 12 records, again in conjunction with the value of focal length F and time T, computing can obtain displacement X and the flight speed V of aircraft 10 movement in time T, aircraft displacement X and flight speed V can be transferred to flight controller 3.Light stream module handler 13 can be light stream sensing process chip.
Inertial navigation module 2 is mainly used in the inertial navigation of aircraft 10, it can be common inertial navigator, be connected with flight controller 3, inertial navigation data is transmitted to flight controller 3, inertial navigator is comparatively proven technique, its 26S Proteasome Structure and Function is well known to those skilled in the art, and does not repeat them here.
Flight controller 3 connects light stream sensing module 1, be connected to light stream module handler 13 specifically, receive the data such as the displacement X of aircraft of its transmission and flight speed V, flight controller 3 also connects inertial navigation module 2 and receives its inertial navigation data transmitted simultaneously.Flight controller 3 carries out data processing, the flight speed V transmitted by light stream sensing module 1 and displacement X carries out flight error rectification to inertial navigation data, what be worth proposition is that the flight speed V transmitted by means of only light stream sensing module 1 can carry out flight error rectification to inertial navigation data, that is flight speed V data can only be transmitted between light stream sensing module 1 and flight controller 3, the calculation process process of concrete rectification is existing, is not described in detail.Flight controller 3 is according to error correction output control aircraft maneuvers, thus the flight error realizing aircraft is corrected, and keeps high-precision location and navigation.
It is more than the composition of aircraft flight error correction device, based on above-mentioned flight error apparatus for correcting, introduce aircraft flight error correction method below in detail, incorporated by reference to reference to figure 2 and Fig. 3, wherein Fig. 2 is the antidote step schematic diagram of the utility model aircraft flight error correction device, Fig. 3 is the utility model aircraft flight error correction device workflow schematic diagram, as shown in the figure, the utility model flight error antidote mainly comprises the following steps: S1 obtains the ground image of aircraft altitude (namely camera eyeglass 111 is to the height H on ground) and shooting continuously by light stream sensing module 1, and carry out data processing at light stream sensing module 1 and obtain aircraft rate signal V, S2 is carried out inertial navigation by inertial navigation module 2 pairs of aircraft and is produced corresponding inertial navigation data, S3 flight controller 3 receives the aircraft speed V signal of light stream sensing module 1 transmission and the inertial navigation data of inertial navigation module 2 transmission, and carries out data processing, carries out flight error rectification by aircraft speed V signal to inertial navigation.
As mentioned above, light stream sensing module 1 comprises camera head 11, height sensor 12 and light stream module handler 13, camera head 11 comprises again camera eyeglass 111 and photo-sensitive cell 112, step S1 comprises again: the focal length F presetting camera head 11, the i.e. spacing of camera eyeglass 111 and photo-sensitive cell 112; Detected by height sensor 12 and obtain the height H of camera eyeglass 111 to ground, aircraft height overhead can be seen as; Ground image is taken continuously by camera head 11; Carry out data processing by light stream module handler 13 and obtain aircraft speed V signal.
Further, the step of being taken ground image by camera head 11 continuously comprises T interval time presetting shooting continuously, this interval time, the settings of T should meet the requirement of sampling precision, that is, within a certain period of time, camera head 11 can take enough ground photographs, enough data are provided to process for light stream module handler 13, can process within a certain period of time and obtain enough polydispersity index values, use for accurately correcting flight error, such as optional, interval time T is set and makes sample frequency be 120Hz.
Carry out data processing by light stream module handler 13 to comprise: light stream module handler 13 receives height sensor 12 and detects the height H numerical value obtained; Light stream module handler 13 obtain focal length F and interval time T numerical value; Light stream module handler 13 receives the view data that camera head 11 is taken continuously, carry out image real time transfer, draw the pixel displacement S of same object in the adjacent two width images of interval time T, concrete image processing method and process are prior art, no longer illustrate; Draw X numerical value by S/F=X/H computing, wherein X is aircraft displacement; The numerical value of flight speed V in sampling interval duration is drawn by V=X/T computing.
Incorporated by reference to reference to figure 4, for the utility model flight error antidote moves pixel distance and flight displacement ratio relation principle schematic diagram, as shown in the figure, in a sampling time interval T, aircraft to fly position B from position A, at A place, position, ground its light of object O is by camera eyeglass 111 imaging on photo-sensitive cell 112, and image space is A1; When aircraft flight is to B place, position, ground its light of object O is by camera eyeglass 111 imaging on photo-sensitive cell 112, image space is B1, distance now between position A and position B is aircraft displacement X, distance between image space A1 and image space B1 is pixel displacement S, according to the known S/F=X/H of geometric relationship, under the prerequisite that remainder data is known, aircraft displacement X can be calculated.By that analogy, along with constantly carrying out of sampling, a series of aircraft displacement X1, X2 to Xn can be drawn, with aircraft displacement divided by time T, a series of polydispersity index value V1, V2 to Vn can be obtained, in above-mentioned steps S3, this polydispersity index value V1, V2 to Vn are transferred in flight controller 3 respectively, flight error rectification can be carried out to inertial navigation.
In another embodiment, under the prerequisite ensureing sampling precision, also the mode transmitting rate signal mean value in certain a period of time t to flight controller can be taked, be specially, this a period of time time span of t is chosen as t=n*T, so in time t, the mean value of speed V is (V1+V2+ ... + Vn)/n, under the prerequisite ensureing sampling precision, n may be selected to be random natural number, such as its n can be 3, the polydispersity index frequency of 120Hz in so original embodiment, when transmitting to flight controller, frequency will reduce to 40Hz, decrease volume of transmitted data and treatment capacity, also sampling precision can be ensured simultaneously, and then ensure that flight error corrects precision.
Step S2 is carried out inertial navigation by inertial navigation module 2 pairs of aircraft and is produced corresponding inertial navigation data, and this is more conventional technology, specifically no longer describes in detail.
In step S3, flight controller 3 receives the aircraft speed V signal of light stream sensing module 1 transmission and the inertial navigation data of inertial navigation module 2 transmission, carry out data processing, by aircraft speed V signal, flight error rectification is carried out to inertial navigation, the calculation process process of concrete rectification is existing, is not described in detail.Flight controller 3 is according to error correction output control aircraft maneuvers, thus the flight error realizing aircraft is corrected, and keeps high-precision location and navigation.
Be worth proposing, in step s3, flight controller 3 only can receive the aircraft speed V signal that light stream sensing module 1 (light stream module handler 13) transmits, and the flight error of through-rate signal to inertial navigation is corrected; Also can receive aircraft speed V signal and the aircraft displacement X signal of light stream sensing module 1 transmission simultaneously, the flight error of inertial navigation be corrected according to two kinds of signals simultaneously.Concrete rectification data handling procedure is known, does not repeat them here.
In addition, the utility model also proposed a kind of unmanned vehicle, be provided with flight error apparatus for correcting of the present utility model, still flight error can be corrected in the environment that gps signal cannot receive, realize precision navigation, wherein the structure of flight error apparatus for correcting and principle are recorded identical with above-described embodiment, no longer repeat specification.
Aircraft flight error correction device of the present utility model is without the need to by gps signal, the ground image obtaining shooting continuously in a period of time can be detected by light stream sensing module, the mobile pixel count of same object in two width images is obtained by image procossing, and then determine the displacement of aircraft movement, aircraft rate value is obtained again by data processing, by the flight error of aircraft rate value and rectifiable inertial navigation, thus also can keep high-precision navigation in the environment that aircraft cannot be received at enclosure space or gps signal such as electromagnetic signal interference stronger region etc., normal location and flight.
The above is only preferred implementation of the present utility model; should be understood that; for those skilled in the art; under the prerequisite not departing from the utility model technical spirit and principle; can also make some improvements and modifications, these improvements and modifications also should be considered as protection domain of the present utility model.
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| CN201520315852.XU CN204594468U (en) | 2015-05-15 | 2015-05-15 | Aircraft flight error correction device and unmanned vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104864866A (en) * | 2015-05-15 | 2015-08-26 | 零度智控（北京）智能科技有限公司 | Aerial vehicle flight error correcting device and correcting method as well as unmanned aerial vehicle |
| CN105818998A (en) * | 2016-05-24 | 2016-08-03 | 北京小米移动软件有限公司 | Aircraft and indoor auxiliary positioning device thereof |
| WO2020006709A1 (en) * | 2018-07-04 | 2020-01-09 | 上海峰飞航空科技有限公司 | Visual positioning system, unmanned aerial vehicle and method for self-detecting position of unmanned aerial vehicle |
-
2015
- 2015-05-15 CN CN201520315852.XU patent/CN204594468U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104864866A (en) * | 2015-05-15 | 2015-08-26 | 零度智控（北京）智能科技有限公司 | Aerial vehicle flight error correcting device and correcting method as well as unmanned aerial vehicle |
| CN105818998A (en) * | 2016-05-24 | 2016-08-03 | 北京小米移动软件有限公司 | Aircraft and indoor auxiliary positioning device thereof |
| CN105818998B (en) * | 2016-05-24 | 2019-01-08 | 北京小米移动软件有限公司 | Aircraft and its indoor auxiliary locator |
| WO2020006709A1 (en) * | 2018-07-04 | 2020-01-09 | 上海峰飞航空科技有限公司 | Visual positioning system, unmanned aerial vehicle and method for self-detecting position of unmanned aerial vehicle |
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