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Unmanned aerial vehicle navigation method during satellite navigation signal failure as well as navigation device

A satellite navigation signal and UAV technology, applied in the field of UAV navigation methods and navigation devices, can solve the problems of UAV flight attitude error, UAV crash, difficulty in ensuring UAV safe flight, etc., to avoid UAV attitude drift, improve flight safety, avoid the effect of unsafe flight

Inactive Publication Date: 2019-11-15
深圳联合飞机科技有限公司
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Problems solved by technology

[0005] In the case of long-term failure of the navigation satellite signal, due to the lack of speed and position observations of the navigation satellite, the cumulative error of the low-precision IMU will cause a large attitude drift in a short period of time, resulting in the flight attitude error of the UAV. Cause the drone to crash, and it is difficult to guarantee the safe flight of the drone when the satellite navigation signal is lost or interfered

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  • Unmanned aerial vehicle navigation method during satellite navigation signal failure as well as navigation device
  • Unmanned aerial vehicle navigation method during satellite navigation signal failure as well as navigation device
  • Unmanned aerial vehicle navigation method during satellite navigation signal failure as well as navigation device

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[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0045] In view of this, if figure 1 As shown, the embodiment of the present invention provides a method for navigating a drone when the satellite navigation signal fails, and the method may include the following steps:

[0046] S101, continuously receiving satellite navigation signals, IMU data, and visual navigation and positioning information.

[0047]In the embodiment of the present invention, the UAV can continuously receive satellite navigation signals, ...

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Abstract

The embodiment of the invention provides a navigation method during satellite navigation signal failure as well as a navigation device. The method comprises the following steps: continuously receivinga satellite navigation signal, IMU data and visual navigation and positioning information; judging whether a satellite navigation signal receiving state at the current moment is a valid state or not;if the satellite navigation signal receiving state at the current moment is the valid state, navigating by virtue of a first navigation model; and if the satellite navigation signal receiving state at the current moment is an invalid state, navigating by virtue of a second navigation mode. The embodiment of the invention not only can avoid the condition that an unmanned aerial vehicle only provided with a low-precision IMU can not fly safely due to the satellite navigation signal failure but also can avoid attitude drift, caused by an accumulated error of the low-precision IMU, of the unmanned aerial vehicle, so that the unmanned aerial vehicle safely flies under the condition that a satellite navigation signal is lost during flight or the unmanned aerial vehicle is disturbed, and flightsafety of the unmanned aerial vehicle is improved.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle navigation method and navigation device when satellite navigation signals fail. Background technique [0002] With the rapid development of UAV technology, the application field of UAV is also rapidly expanding. Its application scenarios are usually accompanied by complex environments, such as buildings, mountains and canyons. These application scenarios are likely to cause satellite navigation signal loss or satellite navigation signal interference. , while the UAV needs to correct its attitude through the satellite navigation signal during the long-endurance flight. Once the satellite navigation signal is blocked by an obstruction, the cumulative error of the UAV's attitude may not be corrected and it will not be able to fly safely. [0003] In view of the situation that the satellite navigation signal is lost or interfered, the exist...

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Application Information

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IPC IPC(8): G01C21/16G01S19/47
CPCG01C21/165G01S19/47
Inventor 陈佳邓海波田刚印
Owner 深圳联合飞机科技有限公司
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