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Navigation method for unmanned aerial vehicle

A technology of drones and navigation data, applied in the direction of integrated navigators, navigation computing tools, etc., which can solve problems such as poor navigation accuracy, heavy navigation equipment, and drones deviating from the scheduled route

Inactive Publication Date: 2012-08-01
贵州贵飞飞机设计研究院有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Celestial navigation usually requires flying above 7,000 meters without dense clouds. Terrain matching usually requires flying at low altitude and good visibility near the ground. Doppler navigation is applicable to a wide range of conditions, but these navigation devices are heavy and consume power. The navigation accuracy is poor, causing the UAV to seriously deviate from the planned route when it loses satellite navigation or receives wrong satellite navigation information

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0014] Example 1. A route detection module with route data calculation function is added to the UAV; this module can calculate the real-time navigation data that does not rely on satellite navigation according to the scheduled route stored in the airborne equipment; when the UAV is flying normally, it still uses the existing The integrated navigation data is generated by the combination of the existing satellite navigation device on the aircraft and the existing inertial navigation equipment on the aircraft. During the flight, the route detection module continuously compares the integrated navigation data that relies on satellite navigation information with the real-time navigation data that does not rely on satellite navigation information. When the difference (criterion value) of the comparison data is less than 1 km, then Think that the satellite navigation is normal and continue to use the existing integrated navigation data. When the satellite navigation fails for a lo...

Embodiment 2

[0015] Example 2. A route detection module with the function of bypassing the no-fly airspace is added to the UAV; this module can calculate the no-fly airspace that the predetermined route may pass through; the coordinates in the real-time navigation data and the space of the no-fly airspace stored in the airborne equipment The location coordinates are compared, and the real-time navigation data is automatically corrected to bypass the no-fly airspace, and then fly according to the scheduled route again after bypassing the no-fly airspace. For example, when a UAV was flying at a low altitude of 2,500 meters in a mountainous area 200 kilometers away from the ground control station, there was an interruption of satellite navigation information. According to the pre-set program, the UAV hovers in a small radius near the fault point and waits for the recovery of satellite navigation information. A few minutes later, the UAV still did not receive satellite navigation informatio...

Embodiment 3

[0016] Example 3. A route detection module with the function of avoiding forbidden areas is added to the UAV; this module can solve the problem that the predetermined route may pass through the forbidden areas near the ground below the airspace; Compare the coordinates in the real-time navigation data with the geographical coordinates of the forbidden areas stored in the airborne equipment; and constantly correct the real-time navigation data, estimate the landing point and control the glide course of the drone to avoid the forbidden areas, To ensure the safety of ground buildings or personnel. For example, if a medium-sized UAV fails, it will slide down at an angle of 15 degrees from a height of 2000 meters at a speed of 160 km / h. The route detection module detects the continuous decline of the non-mission route, and automatically calculates the landing point of the decline. The UAV's estimated landing point is to use the air pressure altitude information as the high side...

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Abstract

The invention discloses a navigation method for an unmanned aerial vehicle, which is characterized in that an air route detection module with an air route data reckoning function is additionally arranged on the unmanned aerial vehicle and is capable of reckoning real-time navigation data independent on satellite navigation according to parameters including flight attitude, navigational speed and height of airborne equipment, an existing satellite navigation device and existing inertial navigation equipment, which are on the vehicle in flight, are combined to generate combined navigation data, the air route detection module is used for continuously comparing the real-time navigation data with the combined navigation data and judging confidence level of the satellite navigation according to comparison data. When satellite navigation is normal, the combined navigation data are preferentially used by the unmanned aerial vehicle for flight, and the real-time navigation data are temporarily suspended; and when satellite navigation is abnormal, the real-time navigation data are automatically started by the unmanned aerial vehicle for flight. By the navigation method, flight missions of the unmanned aerial vehicle can be guaranteed to be still completed according to preset air routes under the satellite navigation losing condition, and the unmanned aerial vehicle can be prevented from flying by no-fly zones or lands in no-landing zones, so that shortcomings of the prior art are overcome.

Description

technical field [0001] The invention relates to a navigation method of an unmanned aerial vehicle, belonging to the technical field of route control of an unmanned aerial vehicle. Background technique [0002] Unmanned aircraft, referred to as "UAV", is an unmanned aircraft controlled by radio remote control telemetry equipment and its own program control device. Equipment such as navigation flight control system, program control device, power and power supply are installed on the plane. The personnel of the ground remote control telemetry station track, locate, remote control, telemeter and transmit real-time data through data link and other equipment. Compared with manned aircraft, it has the characteristics of adapting to the requirements of various flight environments, especially it can undertake long-duration flight or high-risk flight beyond the reach of manpower, and its flight route and attitude control have high precision. It can be widely used in aviation remote s...

Claims

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Application Information

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IPC IPC(8): G01C21/24G01C21/20
Inventor 杨绍文饶赣新
Owner 贵州贵飞飞机设计研究院有限公司
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