CN107820215A - A kind of unmanned plane near field guides system and method - Google Patents
- ️Tue Mar 20 2018
CN107820215A - A kind of unmanned plane near field guides system and method - Google Patents
A kind of unmanned plane near field guides system and method Download PDFInfo
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- CN107820215A CN107820215A CN201711270065.8A CN201711270065A CN107820215A CN 107820215 A CN107820215 A CN 107820215A CN 201711270065 A CN201711270065 A CN 201711270065A CN 107820215 A CN107820215 A CN 107820215A Authority
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- 238000004891 communication Methods 0.000 claims abstract description 55
- 230000000153 supplemental effect Effects 0.000 claims abstract description 37
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- 230000033001 locomotion Effects 0.000 claims description 26
- 238000005259 measurement Methods 0.000 claims description 21
- 238000007726 management method Methods 0.000 claims description 16
- 230000000737 periodic effect Effects 0.000 claims description 12
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- 230000008447 perception Effects 0.000 claims description 11
- 230000000284 resting effect Effects 0.000 claims description 10
- 238000010835 comparative analysis Methods 0.000 claims description 9
- 238000012544 monitoring process Methods 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 4
- 230000000052 comparative effect Effects 0.000 claims description 4
- 235000013399 edible fruits Nutrition 0.000 claims description 2
- 238000012545 processing Methods 0.000 claims description 2
- 230000007613 environmental effect Effects 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 description 11
- 230000005059 dormancy Effects 0.000 description 10
- 230000008569 process Effects 0.000 description 10
- 238000012790 confirmation Methods 0.000 description 9
- 238000009434 installation Methods 0.000 description 9
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- 238000005516 engineering process Methods 0.000 description 3
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The invention belongs to wireless telecommunications, unmanned plane such as is wirelessly accurately positioned at the applied technical field, a kind of unmanned plane near field guiding system proposed, including ground system and airborne alignment system, ground system includes unmanned plane near field sensory perceptual system and the locating base station being sequentially connected, airborne alignment system includes airport sensory perceptual system, Airborne UWB alignment system and the position computing system being sequentially connected, locating base station is connected with power supply module, locating base station and Airborne UWB alignment system wireless connection, unmanned plane near field sensory perceptual system and airport sensory perceptual system wireless connection；Locating base station connects with positioning supplemental communication system.Also propose a kind of unmanned plane near field bootstrap technique.Present inventive concept is ingenious, easy to operate, solves and is accurately positioned protected from environmental big, the high technical problem of technical costs in the prior art.
Description
Technical field
The invention belongs to wireless telecommunications, the applied technical fields such as unmanned plane is wirelessly accurately positioned, it is near to be related to a kind of unmanned plane Field guiding system and method.
Background technology
Unmanned plane, which is accurately positioned, to be relied primarily on and the location technology such as differential GPS, the difference Big Dipper, its ratio of precision positioned compared with Height, but it is protected from environmental bigger.Simultaneously because the network coverage etc. factor, be not that each place can ensure to very Good positioning precision.On this basis, the technologies such as visual identity have been further added by, its data volume handled, cost all significantly rises.
The defects of existing system presence is the most typical is mainly reflected in following several aspects：
1. it is accurately positioned protected from environmental big
Existing be accurately positioned depends primarily on differential system, and differential system is influenceed by following several factors：
A, level of network coverage is particularly not nearly enough complete in rural area, the network coverage of difference；
B, environment influences, and beside building, beside trees, can not obtain good differential signal, and having no idea, it is accurate to realize Positioning；
C, the cost of differential system, according to differential system supplier, the running cost of each equipment is high, self-built difference base Stand, implementation cost is high.
2. technical costs is high
If aiding in visual identifying system, match cognization is carried out, its processing cost and network channel require higher, implementation Difficulty is bigger.
The content of the invention
The present invention proposes a kind of unmanned plane near field guiding system and method, solves and is accurately positioned in the prior art by environment Influence it is big, the high technical problem of technical costs.
The technical proposal of the invention is realized in this way：
A kind of unmanned plane near field guides system, including ground system and airborne alignment system,
The ground system includes unmanned plane near field sensory perceptual system and the locating base station being sequentially connected, the airborne positioning system System includes airport sensory perceptual system, Airborne UWB alignment system and the position computing system being sequentially connected,
The locating base station is connected with power supply module,
The locating base station and the Airborne UWB alignment system wireless connection, unmanned plane near field sensory perceptual system and institute State airport sensory perceptual system wireless connection.
As further technical scheme, the locating base station connects with positioning supplemental communication system.
As further technical scheme, the locating base station includes master base station and from base station, described to be at least from base station Two,
The master base station and it is described UWB modules are provided with out of base station,
The positioning supplemental communication system is arranged in the master base station,
Unmanned plane near field sensory perceptual system includes the first sensory perceptual system and the second sensory perceptual system being connected with each other, and described the One sensory perceptual system is arranged in the master base station, and second sensory perceptual system is arranged on described out of base station, first perception System and the airport sensory perceptual system wireless connection.
As further technical scheme, the master base station and described motion sensor is also provided with out of base station.
As further technical scheme, the master base station and it is described be also provided with out of base station state indicator module and Power control button.
As further technical scheme, the power supply module is battery.
A kind of unmanned plane near field bootstrap technique, comprises the following steps：
Build unmanned plane near field guiding system：Build unmanned plane near field guiding system, the master base station with it is described from Matched and intersected ranging in base station；
Unmanned plane near field perceives：First sensory perceptual system described in the master base station periodic wakeup, first sense after wake-up Know that system actively sends a broadcast request message with ID and matched with unmanned plane；
Unmanned plane response：Unmanned plane receives the broadcast request message for the band ID that the master base station is sent and matched, After success, this request message of the airport sensory perceptual system response, and on response message add unmanned plane relevant information； With failure, then do not reply；
Unmanned plane positions：First sensory perceptual system receives unmanned plane response message, and the master base station is waken up on ground It is all described from base station, Airborne UWB alignment system described in unmanned plane start with the master base station, it is described carry out ranging from base station, Complete unmanned plane positioning；
Unmanned plane lands：After ranging is completed, distance measurement result is supplied to the position to count by the Airborne UWB alignment system Position is output to unmanned plane and flies control unit, landed by calculation system, the position computing system；
Unmanned plane leaves perception：When unmanned plane completion work is left, first sensory perceptual system and the unmanned plane airport Sensory perceptual system is kept in communication until the unmanned plane airport sensory perceptual system signal can not sense, the master base station and described from base Stand and enter resting state, wait use next time.
As further technical scheme, also set up between the unmanned plane response steps and the unmanned plane positioning step There is binary channels authenticating step：
After the master base station obtains the relevant information of unmanned plane by first sensory perceptual system, by the information of unmanned plane Server is transferred to by the positioning supplemental communication system, after receiving server confirmation, unmanned plane positioning step starts, if The response of a negative is received, unmanned plane positioning step does not start.
As further technical scheme, in addition to ground system management process：
During system use, server by it is described positioning supplemental communication system to base station state carry out in real time monitoring and Safeguard.
As further technical scheme, in addition to locating base station self-correction step, the locating base station self-correction step Step, comparative analysis step and result treatment step are perceived including base station movement,
The base station movement perceives step：After the completion of ground system step is built, the motion sensor starts work Make, when its perceive the master base station or it is a certain it is described moved from base station when, the master base station initiates to order again, allows all Base station carries out intersection ranging；
The comparative analysis step：The base station movement is perceived distance measurement result and the initial ranging knot measured by step Fruit is analyzed；
The result treatment step：Again the result of ranging and initial ranging Comparative result, as a result beyond setting threshold values, it is System produces alarm by the positioning supplemental communication system to server, stops service；Without departing from setting value and meet not stop Conditions of service, system re-scale, and form new base station coordinates；
Wherein, conditions of service are not stopped including following：
Be up to a locating base station is moved；
Extrapolate the coordinate of mobile base station in the base station that the master base station is not moved by other；
Coordinate system after renewal is notified into server.
Use principle of the present invention and have the beneficial effect that：
The system is being accurately positioned for the unmanned plane near field guiding based on ultra wide band, and the composition of the system mainly has UWB Ultra wide band locating base station and supplemental communication system, after unmanned plane enters its working range, UWB alignment systems initially enter work Make state, guide unmanned plane precision landing and leave airport etc..It is mainly used for express delivery and realizes precision landing delivery with unmanned plane. Alignment system (UWB modules and Airborne UWB alignment system) employed in the system is IR-UWB alignment systems, operating distance In generally 100 meters.Sensory perceptual system (unmanned plane near field sensory perceptual system and airport sensory perceptual system) uses 433MHz wireless telecommunications Realize, perceived distance is up to 300 meters, but sensory perceptual system is not limited to and communicated using 433MHz communications bands, as long as its work Distance is more than UWB operating distances.Position supplemental communication system to realize using NBIOT modules, NBIOT modules do not limit to use Which kind of means of communication, such as Wi-Fi or 3G/LTE etc..Wherein, master base station and difference mark is carried out from base station using clear and definite color Know, be easy to quick.
Guiding system in unmanned plane near field proposed by the invention has advantages below：
1. high accuracy
Positioning precision is high, is accurately positioned using UWB-ToF rangings, its positioning precision is up to 10cm, can be effectively auxiliary UAV Landing is helped, has ensured the positioning accuracy request of system.Being positioned to for multiple UAVs can be realized on same airport Ask.
2. low cost
System design is realized by the way of low cost, it is sufficient to promotes this alignment system, also, its volume of not needing on a large scale Outer running cost, disposable input, continuous firing can reach more than 3 years, greatly reduce the use cost of system.
3. high security
Using completely self-contained certification passage, system use it is safer, avoid unmanned plane drop to mistake Airport, or illegally kidnapped.
4. low-power consumption
All locating base station master base station and from base station all in resting state, perceive nobody by way of periodic wakeup Machine arrives, and just starts to wake up, there is provided service, unmanned plane prompting service terminate or perceived after unmanned plane leaves, alignment system weight Newly enter resting state.
All locating base stations are all to use battery powered, when needing to provide service to unmanned plane, base station operation, When need not being unmanned plane service, just it be stopped, can effectively reduces power consumption.Base station by the way of plug and play, if Need to change battery, it is only necessary to change new base station.
When base station is installed, electricity in locating base station is directly allowed by the association of structure, confirmed by state instruction, Due to using battery powered, avoiding uninstalled when, base station begins to work, reduces the working time of battery.
5. easy care
Easy care is embodied in many aspects, is the maintenance of base station on one side, and its disassembly and installation need not have specialty Knowledge, plug and play.Another aspect is the position of system, and all devices periodically update the status to high in the clouds, and any system is not Normal situation can be monitored by high in the clouds management platform.
6. self-correction
Alignment system has complete self-checking function, when equipment is moved, system energy self-regeneration, if self-regeneration is lost Lose, meeting prompt system can not provide service, to be safeguarded.Because system is in use, it is difficult to slight movement is avoided, and By self-alignment method, the workload of maintenance can be greatly reduced.
7. security
All devices use low-voltage intrinsic safety equipment, battery powered, greatly reduce security risk, it is ensured that be not present in use Potential safety hazard.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is schematic structural view of the invention；
Fig. 2 is control structure wire schematic diagram in the present invention；
In figure：1- ground systems, 11- locating base stations, 111- master base stations, 112- is from base station, 113- power control buttons, 114-UWB modules, 115- motion sensors, 116- state indicator modules, 12- unmanned planes near field sensory perceptual system, 121- first feel Know system, the sensory perceptual systems of 122- second, 13- positioning supplemental communication systems, the airborne alignment systems of 2-, 21- Airborne UWBs positioning system System, 22- airports sensory perceptual system, 23- positions computing system, 3- power supply modules.
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 describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made Embodiment, belong to the scope of protection of the invention.
As shown in Fig. 1~2, a kind of unmanned plane near field proposed by the invention guiding system, including ground system 1 and airborne Alignment system 2,
Ground system 1 includes unmanned plane near field sensory perceptual system 12 and the locating base station 11 being sequentially connected, airborne alignment system 2 Including airport sensory perceptual system 22, Airborne UWB alignment system 21 and the position computing system 23 being sequentially connected,
Locating base station 11 is connected with power supply module 3,
Locating base station 11 and the wireless connection of Airborne UWB alignment system 21, unmanned plane near field sensory perceptual system 12 and airport perceive The wireless connection of system 22.
Further, locating base station 11 and positioning supplemental communication system 13 connect.
Further, locating base station 11 includes master base station 111 and from base station 112, from base station 112 at least two,
Master base station 111 and UWB modules 114 are provided with out of base station 112,
Positioning supplemental communication system 13 is arranged in master base station 111,
Unmanned plane near field sensory perceptual system 12 includes the first sensory perceptual system 121 and the second sensory perceptual system 122 being connected with each other, the One sensory perceptual system 121 is arranged in master base station 111, and the second sensory perceptual system 122 is arranged on out of base station 112, the first sensory perceptual system 121 with the wireless connection of airport sensory perceptual system 22.
Further, master base station 111 and motion sensor 115 is also provided with out of base station 112.
Further, master base station 111 and state indicator module 116 and power control button are also provided with out of base station 112 113。
Further, power supply module 3 is battery.
Guiding system in unmanned plane near field proposed by the invention is divided into two main parts：
1. ground system 1
Ground system 1 is made up of three main subsystems：
A. locating base station 11, including 1 master base station 111 and at least two are 3 typically from base station, used from base station 112 Power supply module 3 is powered；Wherein, master base station 111 and UWB modules 124 are provided with out of base station 112, UWB modules 124 during use Information exchange is carried out with the UWB on unmanned plane, realizes unmanned plane and master base station 111 or the precision ranging from base station 112, Jin Ershi Existing unmanned plane is accurately positioned；
B. unmanned plane near field sensory perceptual system 12, unmanned machine information is perceived, controls locating base station 11 to work according to detection information Or dormancy, the power consumption of locating base station 11 is reduced, increases the stand-by time of locating base station 11, reduces system maintenance work amount；
C. supplemental communication system 13 is positioned, the second certification passage of system is guided for unmanned plane near field, is led to high in the clouds News, it is mainly used in positioning the system administration on airport, authorizes the work such as landing.
2. airborne alignment system 2
Airborne alignment system 2 is mainly made up of three main subsystems：
A. Airborne UWB alignment system 21, for the UWB modules set with master base station on ground 111 and out of base station 112 124 carry out information exchange, realize unmanned plane and master base station 111, the accurate measurement from distance between base station 112；
B. airport sensory perceptual system 22, the information on airport is perceived, for waking up the locating base station 11 on airport, collects the phase on airport Close data and system matches etc.；
C. position computing subsystem 23, according to the ranging of UWB modules 114 in Airborne UWB alignment system 21 and locating base station 11 Resulting result, the position of current unmanned plane is calculated, and result of calculation is exported to system for flight control computer, flown certainly Plan.
Wherein, the first sensory perceptual system 121, the second sensory perceptual system 122 and airport sensory perceptual system 22 are wireless using 433MHz Communication system, positioning supplemental communication system 13 use NBIOT systems, and Airborne UWB alignment system 21 and UWB modules 114 use IR-UWB systems.Positioning supplemental communication system 13 is communicated using Wi-Fi or 3G/LTE.
Wherein, unmanned plane near field sensory perceptual system 12 has setting in all base stations, mainly realizes and unmanned plane is approached Perceive, when unmanned plane soon close to ground control system after, the sense to unmanned plane is realized by unmanned plane near field sensory perceptual system 12 Know, its perceived distance can reach 300 meters.After perceiving unmanned plane and needing to enter the system, locating base station 11 can be waken up Start working, after leaving region, locating base station 11 can be allowed to enter resting state, reduce system power dissipation.
The mainly realization of supplemental communication system 13 and high in the clouds communication are positioned, as the second certification passage, it is ensured that the peace of system Entirely and reliability, after unmanned plane is perceived by unmanned plane near field sensory perceptual system 12 and is arrived, the module can and server enter Row data communication, it is ensured that this unmanned plane is authorized；This passage can be used for system mode management and maintenance simultaneously.
Unmanned plane realizes the ranging between locating base station 11, airport sensory perceptual system 22 by Airborne UWB alignment system 21 After the completion of being communicated with unmanned plane near field sensory perceptual system 12, Airborne UWB alignment system 21 is waken up and started working, and locating base station 11 carry out ranging, and distance measurement result is output into position computing subsystem 23, calculation position.
Airport sensory perceptual system 22 is mainly communicated with unmanned plane near field sensory perceptual system 12, when close to ground control system Afterwards, this part can wake up Airborne UWB alignment system 21, when leaving, can actively close Airborne UWB alignment system 21, Reduce unmanned plane power consumption.
Specific workflow is as follows：
(1) ground system construction
(1.1) master base station 111 and built from base station 112
Ground system construction refers to master base station 111 and construction and installation from base station 112.In the alignment system on ground, An only master base station 111, its shell are different with other colors from base station 112 in mark site color.Power supply module 3 is Whole system (including master base station 111 and from base station 112) is powered, and can use disposable battery, and can also use to fill Battery, if with rechargeable battery, it can be charged using solar energy mode.
UWB modules 114 support unmanned plane UWB modules to initiate the distance measurement request of positioning to support unmanned plane UWB modules；Shape State indicating module 116 is the state of instruction system, such as dormancy, is worked, and error, battery lights low information, be easy to safeguard and Judge ground UWB positioning master base stations 111 and the working condition from base station 112；Power control button 113 is opening for whole system Close, this switch and installing mechanism is associated, after the installation is complete, ground UWB positioning master base station 111 and from base station 112 just In mode of operation, if being removed from mounting bracket, automatically into power-down mode.
When master base station 111 and after from 112 installation of base station, motion sensor 115 is started working, when it perceives master Base station 111 is moved, and master base station 111 will be waken up, while is waken up by the first sensory perceptual system 121 all from base station 112, is entered Line position, which is put, to be reaffirmed or alerts；Moved when it is perceived from base station 112, will be waken up from base station 112, perceived by second System 122 carries out location confirmation again.Wherein, the first sensory perceptual system 121 mainly completes two functions：Unmanned plane near field perceives； Communicated with all from base station 112, realize installation pairing, state information collection, position secondary-confirmation etc..Second sensory perceptual system 122 are mainly communicated with master base station 111, realize installation pairing, status information transmission, position secondary-confirmation etc..
Positioning supplemental communication system 13 mainly realizes two functions：Certification passage, it is mainly used in unmanned plane and passes through certification；Pipe Passage is managed, all facility informations are collected, for service end management and maintenance.Wherein, positioning supplemental communication system 13 can be Wi-Fi is connected to the passages such as cloud server or GPRS or 3G/LTE by router, as long as can pass through network connection To cloud server.But server can not be connected to by the passage on unmanned plane, this must be an independent passage.
Ground alignment system at least 2 from base station 112, its shell is in mark site color and master base station 111 Color it is different.
(1.2) equipment is installed
Master base station 111 and after the installation of base station 112, automatic power is completed by the actuating mechanism of base station design, It can complete to confirm by the state indicator module 116 on each base station.Master base station 111 can pass through the He of the first sensory perceptual system 121 Communicated and identified from base station 112, complete the action of pairing.Master base station 111 can preserve the relevant configuration letter from base station 112 Breath.
(1.3) setting coordinate is with confirming
Manually, confirm master base station 111 and the longitude and latitude exact value from base station 112, master base station 111 can actively from High in the clouds gets the accurate coordinates information of all base stations, and quadratic space position relationship confirmation is carried out in a manner of ranging.
All master base station 111 and intersection ranging is carried out from base station 112, after the completion of ranging, the result of ranging is converged to Master base station 111, master base station 111 are contrasted the distance measurement result obtained and accurate gps coordinate, if in the presence of than more serious Deviation, it will be alerted to system prompt, it is understood that there may be measuring error.
(1.4) mobile awareness
In all ground UWB base stations, mobile sensing sensor all be present, after being moved due to base station location, can lead Positioning is caused larger deviation occur even completely inaccurate.It is therefore desirable to any movement is corrected and judged whether again Alarm is produced, is safeguarded.
When any one ground UWB locating base stations produce mobile event to when stopping, master base station 111 can again Order is initiated, allows all base stations to carry out intersection ranging, distance measurement result and initial result is contrasted, if contrast is beyond setting Threshold value, such as 5 centimetres, system will produce alarm by communication channel to server, stop service.If threshold value is not above, and And meeting following condition, system can re-scale automatically：Can only at most there is a base station to be moved；Master base station 111 passes through Extrapolate the coordinate of mobile base station in other base stations do not moved；Coordinate system after renewal is notified into cloud server.
(2) unmanned plane near field perceives
All ground base stations are all in order at resting state when no unmanned plane is marched into the arena, and are marched into the arena when there is unmanned plane When started working, it is necessary to which all base station is waken up.
The meeting periodic wakeup of master base station 111 near field the first sensory perceptual system of perceptual channel 121, the first sensory perceptual system after wake-up 121 can actively send a broadcast request message with ID, if unmanned plane be present, and the ID that this unmanned plane passes through drop zone Matched：
Do not replied then by matching, the first sensory perceptual system 121 waits time-out, and master base station 111 can reenter dormancy shape State.
If fitting through, airport sensory perceptual system 22 then replys this request message, and unmanned plane is added on response message Relevant information, if the first sensory perceptual system 121 receives response message, master base station 111 wakes up all from base station 112 on ground.
(3) binary channels certification
Master base station 111 pass through the first sensory perceptual system of near field perceptual channel 121 obtain unmanned plane relevant information after, it is necessary to The information of unmanned plane is transferred to server by positioning supplemental communication system 13 (IOT modules), after receiving server confirmation, Ground Positioning System can just start to provide positioning service for unmanned plane, if receiving the response of a negative, Ground Positioning System is not Positioning service can be provided to unmanned plane.
(4) unmanned plane positions
After master base station 111 is by positioning supplemental communication system 13 (IOT modules) acquisition server mandate, pass through the first sense Know that the information such as all base station locations in ground, permission touchdown area are supplied to unmanned plane airport sensory perceptual system 22, nothing by system 121 After the detailed coordinate information on man-machine acquisition ground, unmanned aerial vehicle onboard UWB alignment systems 21 start and master base station 111, from base station 112 carry out ranging, and after ranging is completed, distance measurement result is supplied to position computing system 23, position by Airborne UWB alignment system 21 Position is output to unmanned plane and flies control unit by computing system 23, is landed.Unmanned plane is dropped in unmanned plane to leave, whole mistake In journey master base station 111 and from base station 112 be all continuously unmanned plane provide service, until unmanned plane leaves working region.
(5) unmanned plane leaves perception
In the process that unmanned plane lands and left, ground base station is continuously its offer service, in the process, master base station 111 by the first sensory perceptual system 121 and the constant communication of unmanned plane airport sensory perceptual system 22, untill Communications failure.Other one When kind mode is that unmanned plane has no longer needed ground system offer service, pass through airport sensory perceptual system 22 or Airborne UWB Alignment system 21 informs that ground system no longer needs to service, then master base station 111 is by positioning supplemental communication system 13 to server Report this time service terminates, and then Ground Positioning System enters dormancy, completes this wheel service.
(6) ground system management
Ground system management is mainly concerned with following several aspects, but is entered by positioning supplemental communication system 13 OK：Unmanned plane landing authorizes；Unmanned plane descent terminates the notice such as service；Base station state updating, this is wrapped to periodically update Battery electric quantity, the health status of system etc. are included, is easy to server to be managed；Base station location movement alarm；The coordinate mark of base station Surely deviation and deviation situation be present.
The system is being accurately positioned for the unmanned plane near field guiding based on ultra wide band, and the composition of the system mainly has UWB Ultra wide band locating base station and supplemental communication system, after unmanned plane enters its working range, UWB alignment systems initially enter work Make state, guide unmanned plane precision landing and leave airport etc..It is mainly used for express delivery and realizes precision landing delivery with unmanned plane. Alignment system (UWB modules 114 and Airborne UWB alignment system 21) employed in the system is IR-UWB alignment systems, work Make in generally 100 meters of distance.Sensory perceptual system (unmanned plane near field sensory perceptual system 12 and airport sensory perceptual system 22) uses 433MHz wireless telecommunications realize that perceived distance is up to 300 meters, but sensory perceptual system is not limited to and led to using 433MHz communications bands News, as long as its operating distance is more than UWB operating distances.Supplemental communication system 13 is positioned to realize using NBIOT modules, NBIOT modules are not limited to using which kind of means of communication, such as Wi-Fi or 3G/LTE etc..Wherein, master base station 111 and from base station 112 Distinctive mark is carried out using clear and definite color, is easy to quick.
Guiding system in unmanned plane near field proposed by the invention has advantages below：
1. high accuracy
Positioning precision is high, is accurately positioned using UWB-ToF rangings, its positioning precision is up to 10cm, can be effectively auxiliary UAV Landing is helped, has ensured the positioning accuracy request of system.Being positioned to for multiple UAVs can be realized on same airport Ask.
2. low cost
System design is realized by the way of low cost, it is sufficient to promotes this alignment system, also, its volume of not needing on a large scale Outer running cost, disposable input, continuous firing can reach more than 3 years, greatly reduce the use cost of system.
3. high security
Using completely self-contained certification passage, system use it is safer, avoid unmanned plane drop to mistake Airport, or illegally kidnapped.
4. low-power consumption
All locating base station master base station 111 and from base station 112 all in resting state, the sense by way of periodic wakeup Know that unmanned plane arrives, just start to wake up, there is provided service, unmanned plane prompting service terminate or perceived after unmanned plane leaves, positioning System reenters resting state.
All locating base stations are all to use battery powered, when needing to provide service to unmanned plane, base station operation, When need not being unmanned plane service, just it be stopped, can effectively reduces power consumption.Base station by the way of plug and play, if Need to change battery, it is only necessary to change new base station.
When base station is installed, electricity in locating base station is directly allowed by the association of structure, confirmed by state instruction, Due to using battery powered, avoiding uninstalled when, base station begins to work, reduces the working time of battery.
5. easy care
Easy care is embodied in many aspects, is the maintenance of base station on one side, and its disassembly and installation need not have specialty Knowledge, plug and play.Another aspect is the position of system, and all devices periodically update the status to high in the clouds, and any system is not Normal situation can be monitored by high in the clouds management platform.
6. self-correction
Alignment system has complete self-checking function, when equipment is moved, system energy self-regeneration, if self-regeneration is lost Lose, meeting prompt system can not provide service, to be safeguarded.Because system is in use, it is difficult to slight movement is avoided, and By self-alignment method, the workload of maintenance can be greatly reduced.
7. security
All devices use low-voltage intrinsic safety equipment, battery powered, greatly reduce security risk, it is ensured that be not present in use Potential safety hazard.
Realize that the guiding of unmanned plane near field there are various embodiments using unmanned plane near field guiding system.
Embodiment 1
Build unmanned plane near field guiding system：Unmanned plane near field guiding system is built, master base station 111 from base station 112 with entering Row pairing and intersection ranging；
Unmanned plane near field perceives：The first sensory perceptual system of periodic wakeup 121 of master base station 111, the first sensory perceptual system after wake-up 121 actively send a broadcast request message with ID is matched with unmanned plane；
Unmanned plane response：Unmanned plane receives the broadcast request message for the band ID that master base station 111 is sent and matched, and matches Success after, this request message of the response of airport sensory perceptual system 22, and on response message add unmanned plane relevant information；Matching is lost Lose, then do not reply；
Unmanned plane positions：First sensory perceptual system 121 receives unmanned plane response message, and master base station 111 wakes up institute on ground Have from base station 112, unmanned aerial vehicle onboard UWB alignment systems 21 start to carry out ranging with master base station 111, from base station 112, complete nobody Machine positions；
Unmanned plane lands：After ranging is completed, distance measurement result is supplied to position computing system by Airborne UWB alignment system 21 23, position is output to unmanned plane and flies control unit by position computing system 23, is landed；
Unmanned plane leaves perception：When unmanned plane completion work is left, the first sensory perceptual system 121 and unmanned plane airport perceive system System 22 is kept in communication until the signal of unmanned plane airport sensory perceptual system 22 can not sense, master base station 111 and entering from base station 112 is stopped Dormancy state, wait use next time.
Embodiment 2
Build unmanned plane near field guiding system：Unmanned plane near field guiding system is built, master base station 111 from base station 112 with entering Row pairing and intersection ranging；
Unmanned plane near field perceives：The first sensory perceptual system of periodic wakeup 121 of master base station 111, the first sensory perceptual system after wake-up 121 actively send a broadcast request message with ID is matched with unmanned plane；
Unmanned plane response：Unmanned plane receives the broadcast request message for the band ID that master base station 111 is sent and matched, and matches Success after, this request message of the response of airport sensory perceptual system 22, and on response message add unmanned plane relevant information；Matching is lost Lose, then do not reply；
Binary channels certification：After master base station 111 obtains the relevant information of unmanned plane by the first sensory perceptual system 121, by nothing Man-machine information is transferred to server by positioning supplemental communication system 13, after receiving server confirmation, unmanned plane positioning step Rapid to start, if receiving the response of a negative, unmanned plane positioning step does not start；
Unmanned plane positions：First sensory perceptual system 121 receives unmanned plane response message, and master base station 111 wakes up institute on ground Have from base station 112, unmanned aerial vehicle onboard UWB alignment systems 21 start to carry out ranging with master base station 111, from base station 112, complete nobody Machine positions；
Unmanned plane lands：After ranging is completed, distance measurement result is supplied to position computing system by Airborne UWB alignment system 21 23, position is output to unmanned plane and flies control unit by position computing system 23, is landed；
Unmanned plane leaves perception：When unmanned plane completion work is left, the first sensory perceptual system 121 and unmanned plane airport perceive system System 22 is kept in communication until the signal of unmanned plane airport sensory perceptual system 22 can not sense, master base station 111 and entering from base station 112 is stopped Dormancy state, wait use next time.
Embodiment 3
Build unmanned plane near field guiding system：Unmanned plane near field guiding system is built, master base station 111 from base station 112 with entering Row pairing and intersection ranging；
Unmanned plane near field perceives：The first sensory perceptual system of periodic wakeup 121 of master base station 111, the first sensory perceptual system after wake-up 121 actively send a broadcast request message with ID is matched with unmanned plane；
Unmanned plane response：Unmanned plane receives the broadcast request message for the band ID that master base station 111 is sent and matched, and matches Success after, this request message of the response of airport sensory perceptual system 22, and on response message add unmanned plane relevant information；Matching is lost Lose, then do not reply；
Unmanned plane positions：First sensory perceptual system 121 receives unmanned plane response message, and master base station 111 wakes up institute on ground Have from base station 112, unmanned aerial vehicle onboard UWB alignment systems 21 start to carry out ranging with master base station 111, from base station 112, complete nobody Machine positions；
Unmanned plane lands：After ranging is completed, distance measurement result is supplied to position computing system by Airborne UWB alignment system 21 23, position is output to unmanned plane and flies control unit by position computing system 23, is landed；
Unmanned plane leaves perception：When unmanned plane completion work is left, the first sensory perceptual system 121 and unmanned plane airport perceive system System 22 is kept in communication until the signal of unmanned plane airport sensory perceptual system 22 can not sense, master base station 111 and entering from base station 112 is stopped Dormancy state, wait use next time.
Also run ground system management process all the time in bootup process, during system use, server passes through positioning Supplemental communication system 13 carries out monitoring and safeguarding in real time to base station state.
Embodiment 4
Build unmanned plane near field guiding system：Unmanned plane near field guiding system is built, master base station 111 from base station 112 with entering Row pairing and intersection ranging；
Unmanned plane near field perceives：The first sensory perceptual system of periodic wakeup 121 of master base station 111, the first sensory perceptual system after wake-up 121 actively send a broadcast request message with ID is matched with unmanned plane；
Unmanned plane response：Unmanned plane receives the broadcast request message for the band ID that master base station 111 is sent and matched, and matches Success after, this request message of the response of airport sensory perceptual system 22, and on response message add unmanned plane relevant information；Matching is lost Lose, then do not reply；
Binary channels authenticating step：After master base station 111 obtains the relevant information of unmanned plane by the first sensory perceptual system 121, The information of unmanned plane is transferred to server by positioning supplemental communication system 13, after receiving server confirmation, unmanned plane is fixed Position step starts, if receiving the response of a negative, unmanned plane positioning step does not start；
Unmanned plane positions：First sensory perceptual system 121 receives unmanned plane response message, and master base station 111 wakes up institute on ground Have from base station 112, unmanned aerial vehicle onboard UWB alignment systems 21 start to carry out ranging with master base station 111, from base station 112, complete nobody Machine positions；
Unmanned plane lands：After ranging is completed, distance measurement result is supplied to position computing system by Airborne UWB alignment system 21 23, position is output to unmanned plane and flies control unit by position computing system 23, is landed；
Unmanned plane leaves perception：When unmanned plane completion work is left, the first sensory perceptual system 121 and unmanned plane airport perceive system System 22 is kept in communication until the signal of unmanned plane airport sensory perceptual system 22 can not sense, master base station 111 and entering from base station 112 is stopped Dormancy state, wait use next time.
Also run ground system management process all the time in bootup process, during system use, server passes through positioning Supplemental communication system 13 carries out monitoring and safeguarding in real time to base station state.
Embodiment 5
Build unmanned plane near field guiding system：Unmanned plane near field guiding system is built, master base station 111 from base station 112 with entering Row pairing and intersection ranging；
Unmanned plane near field perceives：The first sensory perceptual system of periodic wakeup 121 of master base station 111, the first sensory perceptual system after wake-up 121 actively send a broadcast request message with ID is matched with unmanned plane；
Unmanned plane response：Unmanned plane receives the broadcast request message for the band ID that master base station 111 is sent and matched, and matches Success after, this request message of the response of airport sensory perceptual system 22, and on response message add unmanned plane relevant information；Matching is lost Lose, then do not reply；
Unmanned plane positions：First sensory perceptual system 121 receives unmanned plane response message, and master base station 111 wakes up institute on ground Have from base station 112, unmanned aerial vehicle onboard UWB alignment systems 21 start to carry out ranging with master base station 111, from base station 112, complete nobody Machine positions；
Unmanned plane lands：After ranging is completed, distance measurement result is supplied to position computing system by Airborne UWB alignment system 21 23, position is output to unmanned plane and flies control unit by position computing system 23, is landed；
Unmanned plane leaves perception：When unmanned plane completion work is left, the first sensory perceptual system 121 and unmanned plane airport perceive system System 22 is kept in communication until the signal of unmanned plane airport sensory perceptual system 22 can not sense, master base station 111 and entering from base station 112 is stopped Dormancy state, wait use next time.
Also run ground system management and locating base station self-correction all the time in bootup process,
Ground system management：During system use, server is entered by positioning supplemental communication system 13 to base station state Row monitoring in real time and maintenance.
Locating base station self-correction includes base station movement and perceives step, comparative analysis step and result treatment step,
Base station movement perceives step：After the completion of ground system step is built, motion sensor 115 is started working, when Its perceive master base station 111 or it is a certain from base station 112 by it is mobile when, master base station 111 initiates order again, allows all base stations progress Intersect ranging；
Comparative analysis step：Base station movement is perceived distance measurement result measured by step and initial distance measurement result is carried out pair Than analysis；
Result treatment step：Again the result of ranging and initial ranging Comparative result, as a result lead to beyond setting threshold values, system Cross positioning supplemental communication system 13 and produce alarm to server, stop service；Without departing from setting value and meet not stopping servicing bar Part, system re-scale, and form new base station coordinates；
Wherein, conditions of service are not stopped including following：
Be up to a locating base station is moved；
Extrapolate the coordinate of mobile base station in the base station that master base station 111 is not moved by other；
Coordinate system after renewal is notified into server.
Embodiment 6
Build unmanned plane near field guiding system：Unmanned plane near field guiding system is built, master base station 111 from base station 112 with entering Row pairing and intersection ranging；
Unmanned plane near field perceives：The first sensory perceptual system of periodic wakeup 121 of master base station 111, the first sensory perceptual system after wake-up 121 actively send a broadcast request message with ID is matched with unmanned plane；
Unmanned plane response：Unmanned plane receives the broadcast request message for the band ID that master base station 111 is sent and matched, and matches Success after, this request message of the response of airport sensory perceptual system 22, and on response message add unmanned plane relevant information；Matching is lost Lose, then do not reply；
Binary channels authenticating step：After master base station 111 obtains the relevant information of unmanned plane by the first sensory perceptual system 121, The information of unmanned plane is transferred to server by positioning supplemental communication system 13, after receiving server confirmation, unmanned plane is fixed Position step starts, if receiving the response of a negative, unmanned plane positioning step does not start；
Unmanned plane positions：First sensory perceptual system 121 receives unmanned plane response message, and master base station 111 wakes up institute on ground Have from base station 112, unmanned aerial vehicle onboard UWB alignment systems 21 start to carry out ranging with master base station 111, from base station 112, complete nobody Machine positions；
Unmanned plane lands：After ranging is completed, distance measurement result is supplied to position computing system by Airborne UWB alignment system 21 23, position is output to unmanned plane and flies control unit by position computing system 23, is landed；
Unmanned plane leaves perception：When unmanned plane completion work is left, the first sensory perceptual system 121 and unmanned plane airport perceive system System 22 is kept in communication until the signal of unmanned plane airport sensory perceptual system 22 can not sense, master base station 111 and entering from base station 112 is stopped Dormancy state, wait use next time.
Also run ground system management and locating base station self-correction all the time in bootup process,
Ground system management：During system use, server is entered by positioning supplemental communication system 13 to base station state Row monitoring in real time and maintenance.
Locating base station self-correction includes base station movement and perceives step, comparative analysis step and result treatment step,
Base station movement perceives step：After the completion of ground system step is built, motion sensor 115 is started working, when Its perceive master base station 111 or it is a certain from base station 112 by it is mobile when, master base station 111 initiates order again, allows all base stations progress Intersect ranging；
Comparative analysis step：Base station movement is perceived distance measurement result measured by step and initial distance measurement result is carried out pair Than analysis；
Result treatment step：Again the result of ranging and initial ranging Comparative result, as a result lead to beyond setting threshold values, system Cross positioning supplemental communication system 13 and produce alarm to server, stop service；Without departing from setting value and meet not stopping servicing bar Part, system re-scale, and form new base station coordinates；
Wherein, conditions of service are not stopped including following：
Be up to a locating base station is moved；
Extrapolate the coordinate of mobile base station in the base station that master base station 111 is not moved by other；
Coordinate system after renewal is notified into server.
Embodiment 1~6 is accurately positioned using UWB-ToF rangings, and its positioning precision is up to 10cm, can be effectively auxiliary UAV Landing is helped, has ensured the positioning accuracy request of system.Being positioned to for multiple UAVs can be realized on same airport Ask.System design is realized by the way of low cost, it is sufficient to this alignment system is promoted on a large scale, also, it need not be extra Running cost, disposable input, continuous firing can reach more than 3 years, greatly reduce the use cost of system.
Locating base station wake-up is carried out using sensory perceptual system, all locating base station master base stations 111 and not worked from base station 112 When be in resting state, perceived by way of periodic wakeup unmanned plane arrival, just start to wake up, there is provided service, unmanned plane Prompting service terminates or perceived after unmanned plane leaves, and alignment system reenters resting state.
All locating base stations are all to use battery powered, when needing to provide service to unmanned plane, base station operation, When need not being unmanned plane service, just it be stopped, can effectively reduces power consumption.Base station by the way of plug and play, if Need to change battery, it is only necessary to change new base station.When base station is installed, locating base station is directly allowed by the association of structure Upper electricity, is confirmed by state instruction, and due to using battery powered, avoiding uninstalled when, base station begins to work, Reduce the working time of battery.
Base station maintenance facilitates disassembly and installation to have professional knowledge, plug and play.All devices use low-voltage Intrinsic safety equipment, battery powered, greatly reduces security risk, it is ensured that potential safety hazard is not present in use.
Embodiment 2,4 and 6 is provided with binary channels authenticating step, and using completely self-contained certification passage, system uses It is safer, avoid unmanned plane and drop to the airport of mistake, or illegally kidnapped.
Embodiment 3,4,5 and 6 is provided with ground system management process, and all devices periodically update the status to high in the clouds, Any abnormal situation of system can be monitored by high in the clouds management platform, realize real-time monitoring and the dimension of ground system Shield, reduce further the risk that ground system breaks down, and ensure that being smoothed out for unmanned plane near field guiding.
Embodiment 5 and 6 is also provided with locating base station self-correction step, and realizing alignment system has complete self-test work( Can, when equipment is moved, system energy self-regeneration, if self-regeneration fails, meeting prompt system can not provide service, to enter Row is safeguarded.Because system is in use, it is difficult to slight movement is avoided, and by self-alignment method, it can greatly reduce maintenance Workload.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention God any modification, equivalent substitution and improvements made etc., should be included in the scope of the protection with principle.
Claims (10)
1. a kind of unmanned plane near field guides system, it is characterised in that including ground system (1) and airborne alignment system (2),
The ground system (1) includes unmanned plane near field sensory perceptual system (12) and the locating base station (11) being sequentially connected, the machine Carry airport sensory perceptual system (22), Airborne UWB alignment system (21) and position computing system that alignment system (2) includes being sequentially connected (23),
The locating base station (11) is connected with power supply module (3),
The locating base station (11) and Airborne UWB alignment system (21) wireless connection, unmanned plane near field sensory perceptual system And the airport sensory perceptual system (22) wireless connection (12).
A kind of 2. guiding system in unmanned plane near field according to claim 1, it is characterised in that the locating base station (11) and Position supplemental communication system (13) connection.
A kind of 3. unmanned plane near field guiding system according to claim 2, it is characterised in that locating base station (11) bag Include master base station (111) and from base station (112), it is described from base station (112) at least two,
The master base station (111) and it is described be provided with UWB modules (114) out of base station (112),
The positioning supplemental communication system (13) is arranged in the master base station (111),
Unmanned plane near field sensory perceptual system (12) includes the first sensory perceptual system (121) and the second sensory perceptual system being connected with each other (122), first sensory perceptual system (121) is arranged in the master base station (111), and second sensory perceptual system (122) is set Described out of base station (112), first sensory perceptual system (121) and airport sensory perceptual system (22) wireless connection.
A kind of 4. guiding system in unmanned plane near field according to claim 3, it is characterised in that the master base station (111) and It is described to be also provided with motion sensor (115) out of base station (112).
A kind of 5. guiding system in unmanned plane near field according to claim 3, it is characterised in that the master base station (111) and It is described to be also provided with state indicator module (116) and power control button (113) out of base station (112).
A kind of 6. unmanned plane near field guiding system according to any one of claim 3~5, it is characterised in that the power supply Module (3) is battery.
7. a kind of unmanned plane near field bootstrap technique, it is characterised in that comprise the following steps：
Build unmanned plane near field guiding system：Any one of the claim 4~6 unmanned plane near field guiding system is built, it is described Master base station (111) is matched and intersected ranging with described from base station (112)；
Unmanned plane near field perceives：First sensory perceptual system (121) described in master base station (111) periodic wakeup, it is described after wake-up First sensory perceptual system (121) actively sends a broadcast request message with ID and matched with unmanned plane；
Unmanned plane response：Unmanned plane receives the broadcast request message for the band ID that the master base station (111) sends and matched, After success, described this request message of airport sensory perceptual system (22) response, and add the related of unmanned plane on response message and believe Breath；It fails to match, then does not reply；
Unmanned plane positions：First sensory perceptual system (121) receives unmanned plane response message, and the master base station (111) wakes up It is all described from base station (112) on ground, Airborne UWB alignment system (21) described in unmanned plane starts and the master base station (111), It is described to carry out ranging from base station (112), complete unmanned plane positioning；
Unmanned plane lands：After ranging is completed, distance measurement result is supplied to the position to count by the Airborne UWB alignment system (21) Position is output to unmanned plane and flies control unit, landed by calculation system (23), the position computing system (23)；
Unmanned plane leaves perception：When unmanned plane completion work is left, first sensory perceptual system (121) and the unmanned plane airport Sensory perceptual system (22) is kept in communication until the unmanned plane airport sensory perceptual system (22) signal, the master base station can not be sensed (111) and it is described enter resting state from base station (112), wait use next time.
A kind of 8. unmanned plane near field bootstrap technique according to claim 7, it is characterised in that the unmanned plane response steps Binary channels authenticating step is additionally provided between the unmanned plane positioning step：
After the master base station (111) obtains the relevant information of unmanned plane by first sensory perceptual system (121), by unmanned plane Information by it is described positioning supplemental communication system (13) be transferred to server, receive server confirm after, unmanned plane positioning Step starts, if receiving the response of a negative, unmanned plane positioning step does not start.
9. a kind of unmanned plane near field bootstrap technique according to claim 8, it is characterised in that also including ground system management Step：
During system use, server by it is described positioning supplemental communication system (13) to base station state carry out in real time monitoring and Safeguard.
10. a kind of unmanned plane near field bootstrap technique according to any one of claim 7~9, it is characterised in that it is fixed also to include Position base station self-correction step, the locating base station self-correction step include base station movement and perceive step, comparative analysis step and knot Fruit processing step,
The base station movement perceives step：After the completion of ground system step is built, the motion sensor (115) starts work Make, when its perceive the master base station (111) or it is a certain it is described from base station (112) by it is mobile when, the master base station (111) is again Order is initiated, allows all base stations to carry out intersection ranging；
The comparative analysis step：Distance measurement result measured by base station movement perception step and initial distance measurement result are entered Row comparative analysis；
The result treatment step：Again the result of ranging and initial ranging Comparative result, as a result lead to beyond setting threshold values, system Cross the positioning supplemental communication system (13) and produce alarm to server, stop service；Without departing from setting value and meet not stop Conditions of service, system re-scale, and form new base station coordinates；
Wherein, conditions of service are not stopped including following：
Be up to a locating base station is moved；
Extrapolate the coordinate of mobile base station in the base station that the master base station (111) is not moved by other；
Coordinate system after renewal is notified into server.
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