Vehicle-mounted fire protection rotor wing unmanned aerial vehicle TOA cooperative positioning method
A technology of unmanned rotor and cooperative positioning, applied in the field of positioning, can solve the problems of unreliable and accurate positioning of GPS, achieve accurate and reliable calculation, improve maneuverability, and reduce work pressure and burden
Pending 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 vehicle-mounted fire-fighting rotor UAV TOA cooperative positioning method to solve the problem of precise positioning under the rejection conditions such as unreliable GPS or no signal between urban buildings and buildings
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[0081] Assuming that four TOA sensors are installed on the roof platforms of three small fire trucks respectively, the corresponding deployment parameters are: b 0 = 3.5m, c 0 = 1.5m, d 0 =0.5m; the distance measurement accuracy of the TOA sensor is: σ l =σ=0.01m, The schematic diagram of the deployment position of the three vehicles is shown in image 3 . Investigate the positioning accuracy of the UAV on the first vehicle: UAV W 1 Initially located in the center of the platform, its coordinates are: p 0 =[x 0 ,y 0 ,z 0 ] T =[1.75, 0.75, 0.5] T , assuming that the UAV W under typical working conditions 1 The lifting trajectory during operation is a straight line, and its true value trajectory is expressed by the following parametric equation:
[0082] p k =p 0 +n c kΔh, k=0, 1, 2, ...
[0083] Where Δh is the step size, here the value is 10m, n c =[0,0,1] T is the unit direction vector of the straight line trajectory of the UAV, and the movement range z in ...
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The invention discloses a vehicle-mounted fire protection rotor wing unmanned aerial vehicle TOA cooperative positioning method. The method comprises the following steps that UWB modules are mounted and deployed, specifically, three motor fire engines on the ground are adopted as positioning platforms, and four UWB modules are mounted and deployed on the top of each motor fire engine; a fire protection rotor wing unmanned aerial vehicle is arranged on the platform of the top of each motor fire engine, a UWB module is mounted on each rotor wing unmanned aerial vehicle; coordinates of the UWB modules of the fire protection rotor wing unmanned aerial vehicles are calculated; TOA sensor data of the UWB modules of the fire protection rotor wing unmanned aerial vehicles is collected; and the spatial positions of the fire protection rotor wing unmanned aerial vehicles are calculated. According to the vehicle-mounted fire protection rotor wing unmanned aerial vehicle TOA cooperative positioning method, even under the condition that GPS signals between urban buildings are unreliable and weak or in denial, the accurate and reliable calculation of the spatial positions of the fire protectionrotor wing unmanned aerial vehicles can be achieved through the mode of TOA cooperative positioning of a plurality of small motor fire engines, and therefore prerequisites are provided for autonomousor semi-autonomous flight of the fire protection rotor wing unmanned aerial vehicles, and working security of firemen is improved.
Description
technical field [0001] The invention relates to the technical field of positioning, in particular to a TOA cooperative positioning method for a vehicle-mounted fire-fighting rotor UAV. 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 jets to extinguish fires by building aerial ladders. At present, the highest fire-fighting aerial ladder in China is only 101 meters. And miniaturized fire trucks can't reach the height of fire ext...
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Login to View More IPC IPC(8): G01S5/06
CPCG01S5/06
Inventor 李银伢戚国庆盛安冬
Owner NANJING UNIV OF SCI & TECH