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Indoor positioning method and device for unmanned aerial vehicle

An unmanned aerial vehicle and indoor positioning technology, applied in the field of unmanned aerial vehicle indoor positioning methods and devices, can solve the problems of inaccurate positioning accuracy and high positioning cost, and achieve the effect of high-precision positioning

Active Publication Date: 2017-10-27
武汉星巡智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] Based on one or more of the above problems, the present invention provides an indoor positioning method and device for an unmanned aerial vehicle to solve the problem of high positioning costs and problems when the unmanned aerial vehicle receives GPS positioning signals indoors and other places in the prior art. Technical problems with inaccurate positioning accuracy

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  • Indoor positioning method and device for unmanned aerial vehicle

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Experimental program
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Embodiment approach 1

[0042] like figure 1 As shown, the present invention provides an indoor positioning method for an unmanned aerial vehicle, and the indoor positioning method for an unmanned aerial vehicle comprises the following steps:

[0043] The UAV in S1 transmits an ultrasonic signal and an auxiliary synchronous positioning signal, which is recorded as the initial time T 0 ;

[0044] S2 When the public timer receives the auxiliary synchronous positioning signal, record it as the start time T 1 ;

[0045]S3 N receivers arranged in different indoor positions receive the ultrasonic signal, and record the end time T respectively 2 , T 3 …T N+1 , where N is an integer greater than or equal to 3;

[0046] S4 Obtain the end time T 2 , T 3 …T N+1 with the moment T 1 time difference, and then respectively calculate the distance between the UAV and each of the receivers;

[0047] S5 locates the current position of the UAV according to each distance value.

[0048] The indoor positioning...

Embodiment approach 2

[0061] The present invention also provides an indoor positioning device for an unmanned aerial vehicle, the indoor positioning device for an unmanned aerial vehicle includes:

[0062] The initial moment recording module 10 is used for recording the initial moment T when the UAV transmits the ultrasonic signal and the auxiliary synchronous positioning signal 0 ;

[0063] The start time recording module 20 is used for recording the start time T when the public timer receives the auxiliary synchronous positioning signal 1 ;

[0064] The end time recording module 30 is used for receiving the ultrasonic signals by N receivers arranged at different positions in the room, and records the end time T respectively. 2 , T 3 …T N+1 ;

[0065] A distance calculation module 40, configured to obtain the end time T 2 , T 3 …T N+1 with the moment T 1 time difference, and then respectively calculate the distance between the UAV and each of the receivers;

[0066] The positioning modul...

Embodiment 1

[0075] Specifically, the modified embodiment 1 of the present invention is modified on the basis of the above-mentioned embodiments 1 and 2. The proposed indoor positioning device includes an unmanned aerial vehicle transmitting part and a receiving part arranged at different positions indoors. The transmitting part mainly includes: Infrared transmitter module, ultrasonic transmitter module, LED module, serial debugging module, delay module and 915 MHz wireless transmission module (referred to as RF915 digital transmission module). and their respective communication interfaces.

[0076] The receiving part mainly includes: infrared receiving module, ultrasonic receiving module, LED module, timer module, positioning algorithm module, Ublox protocol module, serial debugging module, delay module and RF915 data transmission module. and their corresponding interfaces.

[0077] In the launch part of the indoor positioning device for unmanned aircraft proposed by the present inventio...

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Abstract

The invention provides an indoor positioning method and device for an unmanned aerial vehicle. The method comprises the steps that S1, the unmanned aerial vehicle transmits a supersonic signal and an auxiliary synchronization positioning signal, wherein the moment when the unmanned aerial vehicle transmits the signals is recorded as an initial moment T0; S2, the moment when a common timer receives the auxiliary synchronization positioning signal is recorded as a start moment T1; S3, N receivers which are disposed at different indoor positions receive the supersonic signal, and the end moments are respectively recorded as T2, T3, ..., T<N+1>; S4, the differences between the end moments T2, T3, ..., T<N+1> and the moment T1, and then the distance between the unmanned aerial vehicle and each receiver; S5, the current position of the unmanned aerial vehicle is located according to the distances. According to the invention, the method and device achieves the high-precision location of the unmanned aerial vehicle under the condition that there is no GPS signal or the GPS signal is weak.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to an indoor positioning method and device for an unmanned aerial vehicle. Background technique [0002] UAV is a powered, controllable, capable of carrying a variety of mission equipment, performing a variety of tasks and reusable aircraft. Unmanned aircraft that can be controlled by wireless remote control equipment and its own control devices, such as unmanned helicopters, unmanned fixed-wing aircraft, unmanned paragliders, etc. The UAV can be used to mount a shooting device for aerial photography, surveying and mapping, reconnaissance and so on. [0003] At present, as the application of drones becomes more and more popular, more unmanned aerial vehicles with faster flying speed, higher flying altitude, more flexible operation and smaller size have emerged. With the continuous increase of flight speed and flight altitude, and the smaller and smaller body of th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S15/10G01S19/42
CPCG01S15/101G01S19/42
Inventor 陈辉王峰
Owner 武汉星巡智能科技有限公司
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