GPS speed and position observation abnormal value detection method for unmanned aerial vehicle (UAV)

A detection method, GPS positioning technology, applied in the direction of radio wave measurement system, satellite radio beacon positioning system, measurement device, etc., can solve the problems of limiting the application scenarios of drones, unable to guarantee the continuous validity of data, etc., to avoid unmanned Aircraft crashes, improve flight safety, and improve control accuracy

Active Publication Date: 2015-09-02
TSINGHUA UNIV
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AI Technical Summary

Problems solved by technology

However, there are two problems. On the one hand, it greatly limits the application scenarios of drones; on the other hand, even if the GPS data can be

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  • GPS speed and position observation abnormal value detection method for unmanned aerial vehicle (UAV)
  • GPS speed and position observation abnormal value detection method for unmanned aerial vehicle (UAV)
  • GPS speed and position observation abnormal value detection method for unmanned aerial vehicle (UAV)

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Embodiment Construction

[0030] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0031] In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner" and "outer" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and Simplified descriptions, rather than indicating or implying that the device or e...

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Abstract

The invention provides a GPS speed and position observation abnormal value detection method for an unmanned aerial vehicle (UAV). The GPS speed and position observation abnormal value detection method comprises the steps of obtaining a speed estimation value and a position estimation value which are obtained after the fusion of sensor data of an accelerometer and observation data of a GPS positioning device; setting up the time, then calculating the changing quantities of speed and position which are observed by the accelerometer, and recording the speed and position observation results of the GPS positioning device; obtaining the speed and position observation errors of the GPS positioning device; and setting up a first threshold and a second threshold, and determining whether the speed and position observation results of the GPS positioning device are abnormal. According to the embodiment of the invention, the method can be used for quickly detecting the variation value introduced by the GPS speed and position observation, accidents of UAV crash caused by GPS failure due to environmental interference are avoided, and the flight safety of the UAV is improved.

Description

technical field [0001] The invention relates to the technical field of GPS application on unmanned aerial vehicles, in particular to a method for detecting abnormal values ​​of GPS speed and position observation of unmanned aerial vehicles. Background technique [0002] Due to its low cost-effectiveness, rapid deployment, and zero casualties, UAVs are widely used in military and civilian fields, and can play an important role in disaster scene monitoring, aerial photography, search and rescue, and infrastructure monitoring. [0003] When UAVs perform tasks in outdoor scenes, GPS and other devices are generally used to assist in positioning. Fusing GPS observation data with IMU sensor data that comes with the UAV can obtain relatively accurate speed and position estimates. However, in a complex flight environment, UAVs are easily interfered and blocked by electromagnetic, complex climate, and tall buildings, and cannot obtain effective GPS observation data, which may easily c...

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Application Information

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IPC IPC(8): G01S19/42G01S19/52
CPCG01S19/42G01S19/52
Inventor 戴琼海李一鹏方鑫
Owner TSINGHUA UNIV
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