Navigation method and system based on earth surface feature group

A navigation method and surface technology, applied in the field of unmanned aerial vehicles, can solve problems such as low signal accuracy, and achieve the effect of high positioning and navigation accuracy

Active Publication Date: 2019-07-05
ANYANG QUANFENG AVIATION PLANT PROTECTION TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Aiming at the defects existing in the prior art, the present invention proposes a navigation method and system based on surface feature groups, using the surface feature group navigation collected by the airborne image acquisition device to solve the problem that the UAV cannot obtain effective GNSS signals or GNSS signals. Navigation problems when the signal accuracy is low, to obtain accurate navigation information, such as the location and flight speed of the drone

Method used

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  • Navigation method and system based on earth surface feature group
  • Navigation method and system based on earth surface feature group
  • Navigation method and system based on earth surface feature group

Examples

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Embodiment 1

[0054] A navigation method based on surface feature groups, such as figure 1 Shown, including:

[0055] The S1 in-flight image acquisition device acquires an image of the ground environment, recognizes the image and annotates the spatial coordinates of the feature.

[0056] First, calculate the distance between the drone and the surface feature; in GNSS survey, the speed and position coordinate P of the drone at a certain moment can be determined through the navigation satellite U (X U , Y U ,Z U ), the image acquisition device includes a binocular vision camera set on the UAV, through the binocular vision camera to obtain as many surface features as possible, using the binocular vision ranging principle to obtain the UAV to the surface feature P j (X j , Y j ,Z j ) Distance L j , J = 1, 2, 3, the calculation method is as follows:

[0057] L j =b*f / d j (1)

[0058] Where b is the distance between the left and right cameras obtained by calibrating the binocular vision camera, f is the...

Embodiment 2

[0088] Such as image 3 As shown, a UAV return system based on loss recognition includes a wireless communication link, an image acquisition module, a navigation module, a flight control computer unit and a memory;

[0089] The wireless communication link is used to receive the operation instructions of the handheld controller for the drone or the communication between the drone and the ground control station. The drone operator sends the instructions to the drone through the handheld controller, and the drone is The receiver receives and transmits to the flight control computer unit to control the drone to execute, for example, the pilot controls the drone to take off and reach the designated location;

[0090] The image acquisition module is a unit that uses the image acquisition device to collect images of surface features in the area that can be obtained during the flight operation of the drone, and transmits it to the flight control computer unit for processing and labeling. W...

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Abstract

The invention provides a navigation method and system based on an earth surface feature group. The navigation method comprises the following steps: S1, acquiring an earth surface environment image byutilizing an image acquisition device during flight, identifying the earth surface environment image, selecting an earth surface feature object, and marking space coordinates on the earth surface feature object; S2, judging whether the navigation is invalid; S3, analyzing the position of an unmanned aerial vehicle in a coordinate system, and taking the earth surface feature object marked in the step S1 as a reference point to calculate the coordinates and the speed of the unmanned aerial vehicle in a geodetic coordinate system; and S4, controlling the navigation according to the position information and the speed of the unmanned aerial vehicle. According to the navigation method and system in the invention, the unmanned aerial vehicle acquires the earth surface environment image through anairborne image acquisition device, the space coordinate information of the feature object is marked after the image is identified, when the unmanned aerial vehicle cannot use or acquire effective GNSS signals, the space position where the unmanned aerial vehicle is located is calculated through inversion of the marked feature object, and the navigation is controlled.

Description

Technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a navigation method and system based on surface feature groups. Background technique [0002] With the rapid development of science and technology, people have used more and more UAVs, such as aerial photography, prospecting, traffic command, forest fire prevention, electric power overhead wiring and inspection, security patrol, environmental monitoring, plant protection, etc. In recent years, with the development of the Global Navigation Satellite System (GNSS) and the application of new visual perception and processing equipment, the accuracy of drone missions in unknown and dynamically changing complex environments has been improved. In most cases, UAVs use global navigation satellite system GNSS and inertial navigation system INS (Inertial Navigation System) for navigation and positioning. The accuracy of GNSS directly depends on the number of satellites involved ...

Claims

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Application Information

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Patent Type & AuthorityApplications(China)
IPC IPC(8): G01C21/20G01C11/10G01S19/48
CPCG01C21/20G01C21/005G01C11/10G01S19/48
Inventor张培芬史军强张晓林韩伟王研征李保峰张勇李晓珍
OwnerANYANG QUANFENG AVIATION PLANT PROTECTION TECH