Unmanned aerial vehicle assisted intelligent vehicle driving method and system based on indoor positioning

Abstract

The invention discloses an unmanned aerial vehicle assisted intelligent vehicle driving system based on indoor positioning. The system comprises an intelligent vehicle unit, an unmanned aerial vehicle unit, a PC terminal, a UWB base station and a UWB positioning label. The intelligent vehicle unit has electric drive and direction control functions, is provided with a signal receiving device, and completes a specified tracking route by receiving an instruction sent by the PC terminal; the unmanned aerial vehicle unit carries out image acquisition on the surrounding environment of the intelligent vehicle through a carried camera module, acquired images are preprocessed and then sent to the PC terminal, and the acquired images all carry artificial marks preset in a site. Meanwhile, the unmanned aerial vehicle unit adjusts the flight attitude according to a control instruction issued by the PC terminal; the UWB positioning tags are arranged on the intelligent vehicle unit and the unmanned aerial vehicle unit and continuously send UWB positioning pulses; the UWB base stations respectively measure UWB positioning pulses and feed back measurement results to the PC terminal. According to the invention, the positioning precision is effectively improved, and a cooperative driving system without manual control between the unmanned aerial vehicle and the intelligent vehicle is realized.

Description

technical field [0001] The invention relates to the intersecting fields of UAV control technology, smart car control technology, and UWB positioning system, and in particular to a UAV-assisted smart car driving method and system based on indoor positioning. Background technique [0002] In the existing technology, in order to give full play to the respective functions of the UAV and the unmanned vehicle, and to better realize the autonomous driving ability of the unmanned vehicle in intelligent transportation, a scheme of cooperative driving of the unmanned aerial vehicle and the unmanned intelligent vehicle is proposed . [0003] However, traditional UAV-assisted smart car driving systems mostly rely on on-board sensors, which have great limitations in sensing range and flexibility. For example, patent 201810059695.9 proposes a collaborative navigation method for drones and smart cars based on image recognition. In this method, the real-time position of the car is known by...

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Problems solved by technology

[0003] However, traditional UAV-assisted smart car driving systems mostly rely on on-board sensors, which have great limitations in sensing range and flexibility

For example, patent 201810059695.9 proposes a collaborative navigation method for drones and smart cars based on image recognition. In this method, the real-time position of the car is known by default, and the positioning of the smart car is not considered, so it is not practical; in the journal paper of Ren Tao et al. In "Design of UAV and Smart Vehicle Collaborative Navigation System", it is considered that the UAV shoots the position of the target area through the camera. The limitation of this solution is that the UAV cannot locate the target through the image in the case of long-distance non-line-of-sight Area; patent 201910511710.3 proposes a system and method for autonomous collaborative transportation of UAVs and smart vehicles. The positioning considered in this method is through GPS positioning, which cannot be applied to scenarios without GPS signals

[0004] To sum up, the UAV-assisted smart car driving system in the prior art still needs to rely on sensors and GPS positioning, and it is impossible to realize UAV-assisted smart car driving in places where signal conditions are poor and GPS positioning cannot be used. the goal of

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