Multi-rotor indoor positioning system and its implementation method based on laser scanning radar
A technology of laser scanning radar and indoor positioning, which is applied in the direction of radio wave measurement system, electromagnetic wave re-radiation, instruments, etc., can solve the problems of few obstacles, inaccurate positioning, instability, etc., and achieve simple control, high precision, fast effect
Inactive Publication Date: 2019-02-05
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology
[0004] Aiming at the problem of inaccurate and unstable indoor positioning of current multi-rotor UAVs, the present invention proposes a multi-rotor indoor positioning system based on laser scanning radar and its implementation method to obtain the relative position of multi-rotor unmanned indoor positioning, which solves the problem Key difficulties in indoor navigation of multi-rotor UAVs, so that functions such as indoor navigation of multi-rotor UAVs can be further developed, suitable for relatively open indoor environments with few obstacles
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[0025] Embodiments of the present invention are described in detail below, examples of which 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.
[0026] The multi-rotor unmanned aerial vehicle indoor positioning system based on the laser scanning radar of the present invention includes a position acquisition module, a wireless transmission module, a flight control module and a ground monitoring module, and the position acquisition module includes a laser scanning radar and a high-precision two-axis pan-tilt (PTU) and data processors. The whole system is arranged as figure 1 As shown, the two-axis gimbal is placed in the middle against the wall, and the laser scanning radar is placed...
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The invention discloses a multi-rotor unmanned aerial vehicle indoor positioning system based on laser scanning radar and a realization method thereof, and belongs to the technical field of navigation positioning and control. The positioning system comprises a position acquisition module, a wireless transmission module, a flight control module, and a ground monitoring module. The position acquisition module comprises laser scanning radar, a biaxial holder, and a data processing computer. The realization method of the system is as follows: the position acquisition module models an indoor environment, compares information scanned each time with the built model, and identifies and tracks a multi-rotor unmanned aerial vehicle; and the wireless transmission module sends position information to the multi-rotor unmanned aerial vehicle so functions like indoor navigation can be developed, and the ground monitoring module monitors the flight data of the multi-rotor unmanned aerial vehicle in real time. The 2D laser radar and the biaxial holder are combined to scan the whole space, which is of low cost compared with 3D radar. Moreover, the system has the advantages of high positioning precision, simple realization, and high stability.
Description
technical field [0001] The invention relates to a laser scanning radar-based multi-rotor indoor positioning system and a realization method, belonging to the technical field of navigation positioning and control. Background technique [0002] Due to the advancement of the scientific level, the fields involved in unmanned aerial vehicles are becoming wider and wider, and they have very broad application prospects in both military and civilian fields. The first step in UAV research is to locate and navigate it. At present, the main technologies for positioning and navigation of UAVs researched at home and abroad include: Inertial Navigation System (INS), Global Positioning System (Global Position System, GPS). The inertial navigation system uses inertial components such as gyro accelerometers to obtain the navigation parameters of the drone through integration, and the error will continue to accumulate over time. With the development of science and technology, and people's d...
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IPC IPC(8): G01S17/88G01C21/20
CPCG01C21/206G01S17/88
Inventor 谈青艳王新华刘翎予郑宇
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS