High-precision positioning method for vehicle fire high load rotor unmanned aerial vehicle under GPS (Global Positioning System) rejection condition
A technology of unmanned rotor and positioning method, applied in the field of positioning, can solve problems such as unreliable GPS, achieve accurate and reliable calculation, reduce work pressure and burden, and improve maneuverability.
Active Publication Date: 2019-04-05
NANJING UNIV OF SCI & TECH
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[0004] The purpose of the present invention is to provide a high-precision positioning method for vehicle-mounted fire-fighting high-load rotor drones under GPS rejection conditions, so as to solve the positioning problem under the rejection conditions such as unreliable GPS or no signal between urban buildings and buildings
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[0078] In this embodiment, unless otherwise specified, the default unit of length is meter.
[0079] Assuming that four pull-rope displacement sensors are installed on the roof platform of a small fire truck, the corresponding position deployment parameters are: b 0 = 3.5m, c 0 = 1.5m; the measurement accuracy of the four pull-rope displacement sensors is: 0.05% FS; the azimuth and height measurement accuracy of the turntable are: dense bit, The initial position of the UAV is in the center of the four sensor platforms, and the initial value is: p 0 =[x 0 ,y 0 ,z 0 ] T =[1.75, 0.75, 0.5] T , assuming that the lifting trajectory of the UAV is a straight line under typical working conditions, its true value trajectory is expressed by a parametric equation as
[0080] p k =p 0 +n c kΔh, k=0, 1, 2, ...
[0081] Where Δh is the step size, here the value is 25m, n c =[0,0,1] T is the unit direction vector of the straight line trajectory of the UAV, and the movement ra...
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The invention discloses a high-precision positioning method for a vehicle fire high load rotor unmanned aerial vehicle under a GPS rejection condition. The high-precision positioning method comprisesthe following steps of: step 1, initializing disposition of a fire rotor unmanned aerial vehicle, using a ground mobile fire vehicle as a base station, deploying four pull-type displacement sensors onthe roof platform, mounting each sensor on a turntable with the direction of a measuring rope, measuring the azimuth angle and the height angle corresponding to the pull rope direction by two shaft angle encoders on the turntable respectively, and then mounting the telescopic rope ends of the four displacement sensors at the fixed connection of the bottom of the unmanned aerial vehicle; step 2, collecting data of the displacement sensor and an angle measuring sensor; and step 3, solving space position coordinates of the fire rotor unmanned aerial vehicle. according to the high-precision positioning method for the vehicle fire high load rotor unmanned aerial vehicle under the GPS rejection condition, accurate and reliable calculation of the space position of the fire rotor unmanned aerialvehicle is achieved, preconditions are provided for autonomous or semi-autonomous flight of the fire rotor unmanned aerial vehicle to high-rise and super high-rise building fire operations, and the safety of the firefighter operation is improved.
Description
technical field [0001] The invention relates to the technical field of positioning, in particular to a high-precision positioning method for a vehicle-mounted fire-fighting high-load rotor drone under the condition of GPS denial. Background technique [0002] The problem of urban fire protection has always been a major problem that plagues urban economic development. Once the rescue is not timely, it will cause huge property and casualty losses. According to incomplete statistics, China currently has tens of thousands of tall buildings over 100 meters high. In the next 10 years, the growth rate and number of skyscrapers in China will surpass the rest of the world. The rise of super high-rise buildings has brought enormous pressure to urban fire protection. At present, high-rise firefighting usually uses high-pressure water guns to spray fires by building aerial ladders. The current tallest fire-fighting aerial ladder in China is only 101 meters, and it is extremely expensiv...
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Login to View More IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 李银伢戚国庆盛安冬
Owner NANJING UNIV OF SCI & TECH