A Surround Target Positioning Method Based on Unmanned Aerial Vehicle Swarm

A target positioning and UAV technology, which is applied in the field of surrounding target positioning based on UAV swarms, can solve problems such as poor positioning accuracy, and achieve the effect of high algorithm accuracy

Active Publication Date: 2020-10-13
ZHEJIANG UNIV
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a surrounding target positioning algorithm based on unmanned aerial vehicle groups, which can realize positioning in three-dimensional space, improve the positioning accuracy based on angle sensors, and especially overcome the disadvantages of poor positioning accuracy of the algorithm at special angles

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  • A Surround Target Positioning Method Based on Unmanned Aerial Vehicle Swarm
  • A Surround Target Positioning Method Based on Unmanned Aerial Vehicle Swarm
  • A Surround Target Positioning Method Based on Unmanned Aerial Vehicle Swarm

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Embodiment Construction

[0027] In the following, the present invention will be further described according to specific implementation examples and in conjunction with the accompanying drawings, so that the implementation steps of the present invention can be understood more clearly.

[0028] Assume that in three-dimensional space, there are i (i=1,2...n) drones to locate the target, the coordinate system is OXYZ, and the coordinates of target C are (x, y, z), the three-dimensional The coordinates are (x i ,y i ,z i ), this paper defines the azimuth as the angle between the projection of the UAV and the target line on the OXY plane and the X positive semi-axis, and the pitch angle as the angle between the UAV and the target line and the OXY plane. The azimuth and pitch angles measured by the i-th UAV are (α i ,β i ). In order to understand the principle, two UAVs A and B are used to locate the target C, such as figure 1 shown.

[0029] Such as figure 2 As shown, each UAV shoots the target, an...

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Abstract

The invention discloses a surrounding target positioning method based on an unmanned aerial vehicle group, which comprises the following steps: constructing a linear matrix equation with sine and cosine values of an azimuth angle and a pitch angle as parameters through the azimuth angle and the pitch angle obtained by observing the target by the unmanned aerial vehicle, and solving by utilizing aleast square method to obtain the position of the target. Compared with a lateral cross positioning algorithm taking a tangent value of a measurement angle as a parameter in the past, the method provided by the invention has the advantages that the conditional number of a matrix equation coefficient matrix is effectively reduced, the ill-conditioned problem which may occur when the unmanned aerialvehicle performs positioning around the target is prevented, and the positioning precision of the target in the surrounding area is further improved.

Description

technical field [0001] The invention relates to the field of target positioning of unmanned aerial vehicles, in particular to a surrounding target positioning method based on a group of unmanned aerial vehicles. Background technique [0002] UAV is a technology that has developed very rapidly in recent years, and has made great progress in control accuracy, carrying capacity, wind resistance, and endurance. Long-endurance high-altitude drones can stay in the air for several days or even months to obtain complete information on the target area. UAVs have the advantages of being less affected by clouds and fog over the target, obtaining high-resolution images, more flexible than satellite applications, and low cost. They can select the target area at any time, approach the target area, and provide a more accurate target location. [0003] The use of UAVs for target positioning has a wide range of applications in both military and civilian applications. In terms of civil use,...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
Inventor 杨萌何衍
Owner ZHEJIANG UNIV
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